Latest Updates

Attenuation on the historical map now happens only when the pixel should be visible (its position is within the scanning arc and its distance is less than the distance from the scanner for the closest angle).

Added rotation to robot indication.

Cleaned up dead code left over from the initial simulation.

The top buffer now displays the binary image that is used for decision making rather than the grayscale image used to store the history.

New particles are now generated as variations of the top 1% of the previous round rather than as offsets from the single best from last round.  A few particles with random location and orientation are also added.

Tracking without any knowledge of the motion being imparted works fairly well in a 3.4mx4m room with one core of a Phenom II.  If we have decent estimates of how our position should be changing, it should do very well.  The particles will take care of any small deviation from wheel slippage or imperfect motor control.   However, if we lose the lock, we need to detect it and reorient.  We need to test how robust the algorithm is to sudden changes in position and orientation, as well as testing its ability to regain localization.