web based map generations of mobile robot movement - citacee 2013
TRANSCRIPT
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Web Based Map Generations of
Mobile Robot Movement using SVG
Harindra W Pradhana, Achmad Widodo, Suryono
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Content
Introduction
Mobile Robot Movement
Map Preparation
Data Preparation
Map Transformation
Map Generation
Data Processing
Data Plotting
Testing demo
Conclusion
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Introduction
Vectors : Component &
Addition Backgrounds
Visualise robotic
movement
Vector representing
robotic information
Vector resultant
calculation for latest robot
position & orientation
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Mobile Robot
Movement
• Continuous Discrete
• Each step represented as
vector
• Each movement vector
start at the end of previous
vector
l n=√(∑x=1
x=n
l xsin θ x)2
+(∑x=1
x=n
l xcosθ x)2
θn=tan−1
(∑x=1
x=n
l x sin θx )
(∑x=1
x=n
l x cosθ x)
βn=∑x=1
x=n
θ x
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Map Preparation
Data Preparation Map Transformation
Calculate every robot
position
Find minimum and
maximum point on map
Calculate map size & ratio
Polar Cartesian SVG
If Rmap > Rdraw
If Rmap < Rdraw
TransformationR=
W
H
T=
W draw
W map
P y=[H draw−(T×H map)]
2
T=
H draw
H mapPx=
[W draw−(T ×W map)]
2
X draw=T (X map−X min)+M +Px
Y draw=H draw−T (Y map−Y min)+M−P y
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Map Generation
Data Processing Plotting
Process Flow
Recap & Convertion
Transformation
Robot <polygon points="X-5,Y+7 X,Y-7
X+5,Y+7" fill="yellow"
stroke="black" stroke-width="1"
transform="rotate(-β X,Y)" />
Path <path d="M X1 Y1 L X2 Y2 L X3 Y3
... L Xn Yn" marker-
mid="url(#Triangle)"
fill="none" stroke="black" />
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Testing Demo
Dataset 1 Dataset 2
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Conclusions & Suggestions
Conclusions Sugestions
Robot data can be
visualized using XML tags
in SVG form
Robot movement step can
be represented as vector
Robot final position is the
resultant of all movement
vector
3D map
Map feature
Zoom
Rotate
Multiple robot
SLAM
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Thank You