Navigation · Safety, Uncertainty and Recovery · M7-L2 · Intermediate
Plan with Pose Uncertainty
13:10. Near the glass atrium Scout's localizer wanders by a third of a metre. The planner does not know that. It chooses the shortest path, hugs the glass at the planned distance, and the robot's real position touches it.
You will read how uncertain Scout is in the direction of the wall, convert a risk you accept into a margin, and give the planner a margin that depends on where it is.
Your task
Lab complete: post-mortem
You have passed every stage. Now connect it back to the theory and move on:
Output
Ctrl+Enter runs
What Python can I use?
Plain Python with math and heapq. Your code runs in a background worker: an endless loop is stopped after a few seconds and the page stays usable. It runs in your browser and is never sent anywhere.