Challenges
The following challenges will let you build a better robot and learn more from the techniques in this chapter:
- You can modify the population size. How do higher numbers affect performance? Do lower numbers change the convergence?
- What happens when you start and stop motion while leaving the localisation running?
- Try playing with the alpha factors, and see how they affect the scattering and randomization of the poses. This might be a good place to enhance this code with the configuration system. We can also configure the wheel distance from here.
- We are sending a subset of poses to the browser. Can you try higher or lower pose counts?
- Consider other test areas and how to model their conditions and boundary lines. How would you model them and check for out-of-bounds conditions?
