MATLAB: Odomerty motion models without non-holonomic constraints for monteCarloLocalization object

MATLABmotion modelrobot localization

is there a way to incorporate odomerty motion models without non-holonomic constraints into the monteCarloLocalization object? i have a robot with Mecanum wheels and want to use Monte Carlo locatization but the differential drive motion model. i can't find a option to change the odometry motion model to any other type or include a custom one.

Best Answer

  • Hi,
    Currently the option to change or add a custom motion model is unavailable for monteCarloLocalisation. I have brought this issue to the concerned people and it might be considered in any future release.
    For now if it helps you can use insfilterNonholonomic
    Hope it helps !!