Content Comparison

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• 1. Overview

• 2. Landmark Navigation

  • Block Diagram
    

• 3. Indoor Map Representation

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

• 4. Path Planning

  • Mobile Platform Model
    
  • Algorithms

• 5. Simulation and Results

  • Simulation Using VREP
    
  • Analysis
  • Prototype
  • Future work
    

• References

   

1. Overview

 This work shows an implementation and simulation of a path planning algorithm into an indoor structured environment.

Source Code

All the source code and project files are available through the system Bitbucket in the following link:

Image Added	https://hmontelo@bitbucket.org/hmontelo/me_396d_final_project.git

2. Landmark Navigation

Landmarks are distinct features that a mobile platform or robot can recognize from its sensory input. Landmarks can be geometric shapes (e.g., rectangles, lines, circles), and they may include additional information (e.g., in the form of bar-codes). In general, landmarks have a fixed and known position, relative to which a robot can localize itself. Landmarks are carefully chosen to be easy to identify; for example,  there must be sufficient contrast to the background. Before a robot can use landmarks for navigation, the characteristics of the landmarks must be known and stored in the robot's memory. The main task  in localization is then to recognize the landmarks reliably and to calculate the robot's position.

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• Temporal Analysis
  
  Test 1: Example of an overtaking. Two robots, 1 and 2, follow in the same direction with the same speed. Vehicle 2 overtakes the vehicle 1.

  Test2: Example of two paths without intersections.

  Test3: Example of the intersection of two Robots, followed by the passage and overtake of vehicle 2 by the vehicle 1.

  
  
  
  

• Vehicle Crossing  
  

  Using A*	Using Time Enhanced A*

   

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