Class defined:
Paricles:
• Id: unique recognizer.
• X: x coordinate Y: y coordinate
• Orientation: particles’ orientation
• Existence: 1/0 after the update function
• Weight: weight of each particle such that the sum of weights =1.
Functions Defined:
• Monte_crlo_loc(): Performs the localization and returns the cell identified.
• Move_particles(): Moves every particle 10 inches based on the orientation of the robot.
• Rotate(): rotates the robot to the respective angle taking angle as parameter.
• Moveforward(): Moves the robot 10 inches using encoders.
• Distaf(): Returns the cell number finally.
• Similarity_function(): Returns the possible candidate based on pillar information which is stored before the start of the program.
• Update(): Changes the weight of the robot such that more potential cells are assigned more weight
• Resample(): Changes the particles position after the update function.
• Reinitialize(): Reintializes the particles to correct coordinates and orientation.
Working: All the particles are initialized based on the N value. Upon initialization, each particle is given weight which is normally distributed. The robot moves in the direction where it finds maximum lidar value. When the robot moves to max lidar value, each particle is also moved 10 inches in the direction of the robot. Particles which cannot move as there are walls are eliminated, and all the particles which can possibly move are returned. Once we find the possible candidates, we call similarity function() which returns cells with similar distances form pillar information. The update function updates the weights of the particles based on the above information. Resample function distributes the robot based on the weights. This process in continued until 1 cell is returned by the distaf function.