AMCL localization get lost
Hi,
I'm using AMCL as the localization sub-system in my project. But I found that the robot will get lost when the robot bumps into the obstacle ( the height of the obstacle is below the bumper). The root cause is that ODOM still keeps moving forward and the location of the robot also keeps moving forward. My question is: Can I use the position covariance provided by AMCL as a mechanism to detect the miss-location of localization ?
Wouldn't it be better to stop the robot from crashing into things?
Yes. But I have no way to detect the obstacle which is below the bumper based on current configuration. I need a way to detect the obstacle which is below the bumper.
Obviously you need a sensor for the obstacle..