Kidnapped Vehicle

Overview

This repository contains all the code needed to complete the final project for the Localization course in Udacity's Self-Driving Car Nanodegree.

Project Introduction

Your robot has been kidnapped and transported to a new location! Luckily it has a map of this location, a (noisy) GPS estimate of its initial location, and lots of (noisy) sensor and control data.

This project implements a 2 dimensional particle filter in C++. The particle filter will be given a map and some initial localization information (analogous to what a GPS would provide). At each time step the particle filter will also get observation and control data.

Running the Code

This project involves the Term 2 Simulator which can be downloaded here

The project requires uWebSocketIO and this repository includes two files that can be used to set up and install uWebSocketIO for either Linux or Mac systems. For windows you can use either Docker, VMware, or even Windows 10 Bash on Ubuntu to install uWebSocketIO.

Once the install for uWebSocketIO is complete, the main program can be built and ran by doing the following from the project top directory.

1. mkdir build
2. cd build
3. cmake ..
4. make
5. ./particle_filter

Alternatively some scripts have been included to streamline this process, these can be leveraged by executing the following in the top directory of the project:

1. ./clean.sh
2. ./build.sh
3. ./run.sh

Tips for setting up your environment can be found here

The files that contain the Particle filter implementation are src/particle_filter.cpp, and particle_filter.h

The program main.cpp is already provided.

Inputs to the Particle Filter

You can find the inputs to the particle filter in the data directory.

The Map*

map_data.txt includes the position of landmarks (in meters) on an arbitrary Cartesian coordinate system. Each row has three columns

1. x position
2. y position
3. landmark id

All other data the simulator provides, such as observations and controls.

• Map data provided by 3D Mapping Solutions GmbH.