Sensing - Artificial Intelligence for RoboticsYouTube↗  IA↗(long shot)
Education  6.4K views 1 likes 0 dislikes   23 Feb 2015
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Now I want you to implement a measurement model, using the function sense, that is more characteristic of what's often in the literature on robotics.
次にsense関数を使って 観測モデルを実装してください ロボット工学ではお決まりの課題です
Say we have a robot
例えばロボットがあるとします
and we have a landmark, then the robot can measure their bearing or angle
ここにランドマークがあれば ランドマークへの方位や角度を
to this landmark relative to its own local coordinate system.
ロボット自身をローカル座標系にして 比較し観測することができます
Whereas before we measured ranges or distances, now we measure bearings or angles.
これまでは範囲や距離を観測しましたが 今度は方位や角度を観測します
We assume in the world there are 4 landmarks--
ここには4つのランドマークがあると仮定します
L1, L2, L3, and L4. All of those are distinguishable.
それらをL1、L2、L3、L4と呼び すべてのランドマークを区別しましょう
The measurement vector is a set of 4 bearings that correspond to those four different landmarks.
各ランドマークへ対応する それぞれの方位を観測ベクトルと呼びます
When you implement this, I recommend you use the function arctan2, which is the generalization of arctangent
実装する時は逆正接を一般化した atan2関数を使うことをお勧めします
that takes as input delta y and then delta x.
さらに（△y，△x）と入力します
Arctan 2 would give you the orientation of a vector in global coordinates.
atan2はグローバル座標で ベクトルの方向を教えてくれます
We then have to adjust for the fact that it's relative to the robot's local coordinates,
しかしロボットのローカル座標が基準のため
which is done by subtracting the orientation of the robot.
ロボットの方向を減算して調整する必要があります
This should give you the implementation of a bearing to a landmark.
これで方位がランドマークに実装されました
With this implementation I add a variable called "bearing_noise,"
この実装ではbearing＿noiseという 変数を追加しています
which you probably already used because it was already referenced before.
以前 説明したので使ったかもしれませんね
I set it to 0 just so that we have no noise, and you can just your code.
ノイズなしにするため0とセットしました コードを確認してください
We initialize the robot coordinates as 30 and 20.
ロボットの初期座標を（30，20）とします
Motions are now irrelevant.
今回 動作は重要ではありません
But as I go down, I now give the following two lines of code.
下の方を見ると2行のコードがあります
I print the coordinates as before, and I print the measurements.
今回も今までのように座標と観測を出力します
The robot is at 30/20, and the bearings for these landmarks will be
ロボットは（30，20）の位置にいて ランドマークを指す方位は
6.00, 3.72, 1.92, and 0.85.
6．00、3．72、1．92、と0．85です
My question for you is can you implement the software the measures those bearings.
ここで問題です 方位を観測するソフトウェアを実装してください
If I changed the initial orientation of the robot to be pi over 5,
ロボットの初期方位をpi／5と変えると
I now get my new robot coordinates over here,
新しいロボット座標が得られます
and my measurement vector outputs me very different values.
観測ベクトルは前回と異なる値を出力しています
That's because this robot is now rotated and therefore all the bearings to the landmarks do change.
ロボットが回転しているため ランドマークを指す方位がすべて変わったのです
It's 5.3, 3.1, 1.3, and 0.22.
今は5．3、3．1、1．3、0．22です
Implement a measurement function that gives me exactly those values.
これと完全に同じ数値になる measurement関数を実装してください
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