The Cartography

The robot is moving in 2D. The cartography is used for both robot localization and robot moving.

Even if it is not necessary it is easiest to divide space room in zones that are as similar as possible. Each zone is identified by a different number. We need to define a cartesian coordinate system:

The robot position (and particles) is define the coordinate (x,y,h) where h (heading) is the robot orientation regarding X axis.

For localization we need to select points from where to do the 360° learning scan. The easiest is to select the center of each zone.

For moving we need to have the knowledge of physical obstacles. A cartography function provides for each point of the space the availability status (free, occupied, free but to avoid…).

Figure 11 For instance a space of 90cm x 180 cm divided in 28 zones (for instance squares) (30cm x 30xcm) form zones.

In the above example 28 zones white zones are free and grey occupied

· cartography (10,10) -> occupied

· cartography (65,35) -> free