I'm refining my previous question because I didn't get a correct answer :) I need to write code for a particle filter with the following requirements:
Points A and B, representing the terminal points of a trajectory to be followed by the robot. The shape of the path itself is not that important and so are the locations of the terminal points, but it must pass nearby at least 50% of the beacons.
The task is to design an algorithm for the agent which estimates its whereabouts based exclusively on these beacons.
Initialize: number of particles N = 2000. All particles, being equally weighted, should be uniformly sampled in the rectangle representing the real world, from (0, 0) to (670, 830).
Position the agent at point A.
Run the algorithm while the agent travels from A to B.
The particle filter should process observations only when the proximity sensor provides them (when the distance is less than 3). Otherwise, it should only carry out the time propagation step based on the noisy odometer.
I didn't understand how to plan the route and require the robot to pass at least 50% of the points? And how does all this get into the filter?
I have not seen such a code on the Internet, I would appreciate help (and if possible, a proper code a link to a code that works).
Thank a lot!!