def drunkWalkCase(i):
# case = Case("DrunkWalk")
# case.cov_algo = "drunkwalk"
# case.start = [4,4]
# case.end = [46,46]
case = Case("DrunkWalk_FingerPrint", "./ArenaMaps/6room_map_small/6room_map.bmp")
case.cov_algo = "drunkwalk_biased"
case.goal_graph = goalgraph.GoalGraph()
case.num_explorers = 10
case.num_anchors = 5
# Noises
case.noise_radio = i
case.noise_turn = 0.2
case.noise_velocity = 0.2
case.noise_mag = 30
case.fail_prob = 0
# Particle filter settings
case.stop_on_all_covered = True
case.num_particles = 100
# Display
case.is_display_on_real = False
# Run case
case.num_total_run = 1000
case.max_iterations = 10
case.deltick = 1
runCase(case)
def drunkWalkCase(i):
# case = Case("DrunkWalk")
# case.cov_algo = "drunkwalk"
# case.start = [4,4]
# case.end = [46,46]
# case = Case("DrunkWalk_PProbe", "./ArenaMaps/7room_slam_map_small.bmp")
# case.cov_algo = "drunkwalk_pprobe"
case = Case("DrunkWalk_BiasedRandom", "./ArenaMaps/7room_slam_map_small.bmp")
#case = Case("DrunkWalk_BiasedRandom", "./ArenaMaps/7room_slam_map.bmp")
case.cov_algo = "drunkwalk_biased"
# case = Case("DrunkWalk_BiasedRandom", "./ArenaMaps/6room_map_small/6room_map.bmp")
# case.cov_algo = "drunkwalk_biased"
case.goal_graph = goalgraph.GoalGraph()
case.num_explorers = 12#10
case.num_anchors = 5
# Noises
case.noise_radio = 0.5
case.noise_turn = 0.2
case.noise_velocity = 0.2
case.noise_mag = 20
case.fail_prob = 0
case.random_bias_prob = 0.0
# Particle filter settings
case.stop_on_all_covered = True
case.num_particles = 100
case.init_p_wt = 1/float(case.num_particles) #added by xinlei
# Display
case.is_display_on_real = True#False
# Run case
case.num_total_run = 1000
case.max_iterations = 5
case.deltick = 1
runCase(case)
def drunkWalkCase(i):
case = Case("DrunkWalk", "./ArenaMaps/testbed.bmp")
case.cov_algo = "drunkwalk"
case.start = [1,1]
case.end = [5,8]
# case = Case("DrunkWalk_Maps", "./ArenaMaps/7room_slam_map_small.bmp")
# case.cov_algo = "drunkwalk_biased"
#
# # case = Case("DrunkWalk_BiasedRandom", "./ArenaMaps/6room_map_small/6room_map.bmp")
# # case.cov_algo = "drunkwalk_biased"
# case.goal_graph = goalgraph.GoalGraph()
case.num_explorers = 4
case.num_anchors = 6
# Noises
case.noise_radio = 0.5
case.noise_turn = 0.2
case.noise_velocity = 0.2
case.noise_mag = 30
case.fail_prob = 0
case.rf_signature_db = []
# Particle filter settings
case.stop_on_all_covered = True
case.num_particles = 100
# Display
case.is_display_on_real = False
# Run case
case.num_total_run = 360
case.max_iterations = 5
case.deltick = 1
runCase(case)