The autonomous navigation of a robot can be accomplished through the assignment of a sequence of waypoints previously identified in the territory to be explored. In general, the starting point is a vector graph of the network consisting of possible paths. The vector graph can be directly available in the case of actual road networks, or it can be constructed, i.e. on the basis of cartographic supports or, even better, of a digital terrain model (DTM). In this paper we present software procedures developed in Grass-GIS, PostGIS and QGIS environments to identify, represent, extract and normalize a sequence of waypoints. These waypoints, which are in a shape vector format, are then transferred to the robot for its autonomous navigation.
DEVELOPMENT OF SOFTWARE PROCEDURES FOR ASSIGNING OPTIMAL PATHS TO AUTONOUMOUS ROBOTS IN OPEN SOURCE GIS ENVIRONMENT
MANGIAMELI, MICHELE;MUSCATO, Giovanni;MUSSUMECI, Giuseppe
2012-01-01
Abstract
The autonomous navigation of a robot can be accomplished through the assignment of a sequence of waypoints previously identified in the territory to be explored. In general, the starting point is a vector graph of the network consisting of possible paths. The vector graph can be directly available in the case of actual road networks, or it can be constructed, i.e. on the basis of cartographic supports or, even better, of a digital terrain model (DTM). In this paper we present software procedures developed in Grass-GIS, PostGIS and QGIS environments to identify, represent, extract and normalize a sequence of waypoints. These waypoints, which are in a shape vector format, are then transferred to the robot for its autonomous navigation.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.