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Software => Software => Topic started by: pomprocker on August 05, 2008, 11:56:35 AM

Title: particle filtering tutorial
Post by: pomprocker on August 05, 2008, 11:56:35 AM

I want to learn this stuff:

trajectory, kinematic, and inverse kinematic

how to code closed loop systems like PID (proportional–integral–derivative controller)

bayesian and kalman filters


etc....

who can write up a member tutorial on it?

Title: Re: particle filtering tutorial
Post by: Kohanbash on August 05, 2008, 05:43:10 PM

I have a kalman filtering tutorial that will be up in a few days.

Here is a PID code segment from wikipedia:

previous_error = 0
I = 0
start:
  error = setpoint - actual_position
  P = Kp * error
  I = I + Ki * error * dt
  D = (Kd / dt) * (error - previous_error)
  output = P + I + D
  previous_error = error
  wait(dt)
  goto start

Title: Re: particle filtering tutorial
Post by: JesseWelling on August 05, 2008, 11:48:50 PM

I'm learning from this book (http://mitpress.mit.edu/catalog/item/default.asp?ttype=2&tid=10668). It's pretty good.The author won the first DARPA grand challenge.
I can't think of a better metric for the utility of a book than the author's application of the same knowledge in the real world...