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AMCL:As the robot rotates, the particles diverge

asked 2021-07-15 04:03:26 -0500

Mr_He gravatar image

updated 2021-07-15 04:16:45 -0500

When I use the AMCL algorithm, the robot works well in most cases. But there are times when the robot is spinning,amcl particles will suddenly diverge around the robot.I want to know how it came about and how I can solve it.

The phenomenon is as shown in the picture below:



(Unfortunately, I failed to upload images from my computer. Can you see these two pictures)

Here you have the parameters of the AMCL:

<param name="laser_min_range" value="-1.0"/>  
<param name="laser_max_range" value="-1.0"/>  
<param name="laser_max_beams" value="1640"/>   
<param name="laser_z_hit" value="0.95"/> 
<param name="laser_z_short" value="0.05"/> 
<param name="laser_z_max" value="0.05"/> 
<param name="laser_z_rand" value="0.05"/> 
<param name="laser_sigma_hit" value="0.12"/> 
<param name="laser_lambda_short" value="0.1"/> 
<param name="laser_likehood_max_dist" value="2.0"/> 
<param name="laser_model_type" value="likelihood_field"/> 

<param name="odom_model_type" value="diff"/> 
<param name="odom_alpha1" value="0.5"/> 
<param name="odom_alpha2" value="0.5"/>
<!-- translation std dev, m -->
<param name="odom_alpha3" value="5.0"/> 
<param name="odom_alpha4" value="1.0"/> 
<param name="odom_alpha5" value="0.05"/> 
<param name="odom_frame_id" value="odom"/>  
<param name="base_frame_id" value="base_link"/>  
<param name="global_frame_id" value="map"/>  
<param name="tf_broadcast" value="ture"/>  

<param name="initial_pose_x" value="0"/> 
<param name="initial_pose_y" value="0"/> 
<param name="initial_pose_z" value="0"/> 
<param name="initial_pose_a" value="0.0"/> 
<param name="initial_cov_xx" value="0.5*0.5"/> 
<param name="initial_cov_yy" value="0.5*0.5"/> 
<param name="initial_cov_aa" value="(π/12)*(π/12)"/>

Can someone help me, thanks

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Humpelstilzchen gravatar image Humpelstilzchen  ( 2021-07-15 04:34:28 -0500 )edit
moooeeeep gravatar image moooeeeep  ( 2021-07-16 01:49:14 -0500 )edit

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answered 2021-07-25 12:37:55 -0500

fergs gravatar image

updated 2021-07-25 12:38:11 -0500

Your odom_alpha3 and odom_alpha4 values seem VERY high. See the description of those parameters on the AMCL wiki page, and also note that 0.2 is the default value.

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Asked: 2021-07-15 04:03:26 -0500

Seen: 63 times

Last updated: Jul 25 '21