Particle Filter¶

In [1]:

import matplotlib.pyplot as plt
import numpy as np

In [2]:

from plots import plot_pf
from simulators import robot

Localization¶

In [3]:

_, ax = plt.subplots(figsize=(8, 4))

np.random.seed(2)
robot.robot_pf(ax, N=5000)
ax.set(xlim=(0, 20), ylim=(0, 20))

final position error, variance:
	 [-0.10621456  0.1061402 ] [0.00859646 0.00757081]

Out[3]:

[(0.0, 20.0), (0.0, 20.0)]

In [4]:

_, ax = plt.subplots(figsize=(8, 4))

np.random.seed(2)
robot.robot_pf(ax, N=5000, iters=8, show_particles=True)
ax.set(xlim=(0, 8), ylim=(0, 8))

final position error, variance:
	 [-0.01868509 -0.00526306] [0.00515279 0.00559609]

Out[4]:

[(0.0, 8.0), (0.0, 8.0)]

In [5]:

_, ax = plt.subplots(figsize=(8, 4))

robot.robot_pf(ax, N=5000, show_particles=True, initial_x=(1, 1, np.pi / 4))
ax.set(xlim=(0, 20), ylim=(0, 20))

final position error, variance:
	 [ 0.18184194 -0.09609328] [0.0065123  0.00760191]

Out[5]:

[(0.0, 20.0), (0.0, 20.0)]

In [6]:

a = [0.1, 0.2, 0.3, 0.4, 0.2, 0.3, 0.1]

plot_pf.show_resample_multinomial(a, figsize=(6, 1.5))

# plt.savefig("../images/resample_multinomial.png")

In [7]:

plot_pf.show_resample_residual(a, figsize=(6, 1.5))

# plt.savefig("../images/resample_residual.png")

In [8]:

plot_pf.show_resample_stratified(a, figsize=(6, 1.5))

# plt.savefig("../images/resample_stratified.png")

In [9]:

plot_pf.show_resample_systematic(a, figsize=(6, 1.5))

# plt.savefig("../images/resample_systematic.png")