End Results Intended
The end result of the project is the mapping software package, which is comprised of several interrelated programs. The primary function of the package is to accumulate and disseminate spatial data in the form of an occupancy grid. The package is composed of the Incremental Mapping module, Mapping Display module and Hard Copy module. Spatial information is received, analyzed and stored by the Incremental Mapping module. A visual representation of the stored data is generated by the Mapping Display module. The Hard Copy module transcribes the occupancy grid in active memory into a stored file. The mapping package is designed to be a modular addition that can be inserted into programs to generate spatial data. This data can be dynamically used by the main program or generated as a supplement to the robot’s primary purpose.
Initial testing and implementation will be performed using the robot simulator. This will permit evaluation of the accuracy of the spatial data generated by the software. The simulator allows the specification of spatial data in the form of a diagram called a “world” and this can be directly compared to the software’s output. Identical grids can be drawn and cell comparison can yield a qualitative answer to the accuracy of the mapping software.