Summary
In this chapter, we started by building a test arena for our robot using foam board construction, then modeled this in code, and displayed it along with a distance sensor likelihood field. We put this on the robot, sent it over BLE, and then added poses.
We modeled how poses move using sensors, adding uncertainty to the model. We then added a model of distance sensor observations, generating weights that we used in a resampling algorithm to generate new poses.
We finished with a look at tuning factors to improve the performance of this system.
In the next chapter, we will summarize your Raspberry Pi Pico robotics learning journey so far and discuss how you can continue your journey by improving this robot or building more robots.
