Creating Particles - Artificial Intelligence for RoboticsYouTube↗  IA↗(long shot)
Education  11.6K views 7 likes 0 dislikes   29 May 2012
Udacity 651K subscribers United States YouTube↗


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[Narrator] The particle filter that you're going to program
これからプログラムする粒子フィルタは
maintains a set of 1000 random guesses as to where the robot might be.
どこかに可能性のある 1，000個のランダム予測を保持します
Now, I'm not going to draw 1000 dots here,
1，000個の点を描画しませんが
but let me explain how each of these dots looks like.
それぞれの点がどのように見えるのか説明します
Each of these dots is a vector which contains an X coordinate,
これらの点それぞれにベクトルがあります
in this case 38.2, a Y coordinate 12.4,
この点の場合はX座標38．2、Y座標12．4で
and a heading direction of 0.1,
進行方向は0．1です
which is the angle at which the robot points relative to the X axis.
これはX軸に対しどのぐらいの角度があるかです
So, this robot moves forward, it will move slightly upwards.
つまり前進してわずかに上方に動きます
In fact, now a code--every time you call the function robot
robot関数を呼び出し 粒子に割り当てる度に
and assign it say to a particle,
それが実際にコードとなります
here the [i] particle,
ここに粒子p［i］があり
these elements p[i]x, y, and orientation, which is the same as heading,
要素p［i］x、p［i］y、p［i］orientationが ランダムに初期化されます
are initialized at random.
このorientationは方向という意味です
So, to make a particle set of 1000 particles
1，000個の粒子の集合を作るために
what you have to program is a simple piece of code that assigns 1000 of those to a list.
プログラムしなければならないのは 1，000個をリストに入れる簡単なコードです
So, let's do this; let me set N=1000 for 1000 particles.
では実際に1，000個の粒子に対し N＝1，000を設定してみましょう
Here's my initial set of particles; it's going to be an empty list,
これが初期の粒子集合で 空白リストになります
and I want you to fill in some code
いくつかコードを入れてください
after which we have 1000 particles assigned to this vector over here.
このベクトルに割り当てられた 1，000個の粒子があり
So, when I print the length of this thing
この距離を出力します
I will get 1000 instead of 0.
ゼロではなく1，000が得られます
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