AMCL localization get lost

asked 2018-07-22 22:49:20 -0500

cccheng914 gravatar image

updated 2018-07-23 23:56:13 -0500

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 ?

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Comments

Wouldn't it be better to stop the robot from crashing into things?

Humpelstilzchen gravatar imageHumpelstilzchen ( 2018-07-24 02:34:25 -0500 )edit

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.

cccheng914 gravatar imagecccheng914 ( 2018-07-24 20:12:16 -0500 )edit

Obviously you need a sensor for the obstacle..

Humpelstilzchen gravatar imageHumpelstilzchen ( 2018-07-25 01:24:32 -0500 )edit