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Hilgad Montelo Da Silva

Hilgad Montelo Da Silva

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  • Overview

  • Landmark Navigation

    • Block Diagram

  • Indoor Map Representation

    • IndoorGML - Indoor Geographic Markup Language
    • Cellular Space ModelSolvers
    Indoor
    • Map
    Representation
    • generation Tool

  • Path Planning

  • Simulation and Results

  • References

     

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In order to simplify the problem of landmark acquisition it is often assumed that the current robot  position and orientation are known approximately, so that the robot only needs to look for landmarks in a limited area. For this reason good odometry accuracy is a prerequisite for successful landmark detection. The picture below shows the general procedure for performing landmark-based positioning.Image Removed

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  • Special Beacons                        
  • Distinct Landmarks
  •       Most difficult part in Landmark Positioning                                  
  •       Triangulation                                   
  •      Geometric Shape                            


Block Diagram

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Indoor Map Representation

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It is also possible to set navigation constraints by generating options between navigable and non-navigable paths.

 

IndoorGML contains 5 (five) different layers:

L1 – TOPOGRAPHIC - Geometry

L2 - TOPOGRAPHIC - NavigationL3 - SENSOR - CameraL4 - SENSOR - LocalizationL5 - TAGS - Semantic
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Map Generation Tool


DesignGenerated MAP (Isometric View)Example of GML file

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Path Planning


Simulation and Results

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