I've been reading a number of papers on map building techniques
1) How do you determine the size of a cell in the grid?
2) When the robot is building the map does is generally just wander
around? If so how then can you determine when you've come back to the
place you started or have sufficiently visited enough places to be sure
the environment is suitably mapped?
3) Any books or papers with look at these would be useful.
memory (RAM) constraints, size of robot, environmental characteristics.
Start coding (email me for help) and experiment with different cell dimensions.
How much detail about the environment do you actually NEED to navigate?
No. you start with every cell as unexplored. 2) scan with sensors
and update the map. 3) flood fill and find the nearest unexplored
area. 4)travel to that area and scan. when a flood fill finds no
unexplored areas, then you've mapped out the entire environment.
aiiadict (there are several threads I've started here to research
the same subject. I got my software running very nicely from the
information that other's provided)
aiiadict AT hotmail DOT com
Many thanks for the pointers! Load of stuff out there, I've put
together a rough diagram of what I think I need to implement to get my
robot to generate a map. Still got a few questions, can you take a look,
see whether I'm on the right track?
Questions on the web page.
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