Subject:
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Re: Has anyone been experimenting with mapping algorithms?
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Newsgroups:
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lugnet.robotics.handyboard
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Date:
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Sun, 29 Nov 1998 01:17:09 GMT
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Original-From:
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Will <willbain@cs.umt=nospam=.edu>
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Reply-To:
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willbain@cs.umt(saynotospam).edu
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Viewed:
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2462 times
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jdunn@unm.edu wrote:
> We've been reading up on the many different algorithms for mapping an
> environment using autonomous robots. Has anyone else been trying to figure
> out the best approach to map an area and it's obstacles using less than 32k
> of memory?
The two basic approaches are (1) a bitmap, and (2) a list of obstacle
coordinates.
A bitmap is just a grid of 1's and 0's indicating the presence of an
obstacle at each grid point. It can be implemented as a 1-D integer
array with a simple indexing function to specify the proper array index
and bit. If you have 32 kilobytes available, you can map a grid up to
about 500 x 500 points.
A list of obstacle coordinates is more useful where the search area is
very large and/or where the obstacles are fairly sparse and memory is at
a premium. One way to store and retrieve the obstacle coordinates is in
a hash table. You could cram both the x and y coordinates into a single
integer. The list is a little harder to use algorithmically than a
bitmap.
I haven't actually tried these yet, so if you beat me to it, let me know
how it works out. Good luck!
--Will
, ,
__@_/ \_@__ |/
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)\ ) ( \ (\/\\,
~~~~~~~~~ ' ` ~~~~~~~~~~~ ` ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Wendy Parson, If you can find something everyone agrees on,
Will Bain, it's wrong.
& Tatoosh --Mo Udall
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