Next step in robot navigation is mapping.
Now, what exactly is mapping?
Now Epic essentially is representing the environment, which in our case is the image of a mars in the
form of a traversable map.
In robot navigation, this becomes the second most important requirement of the localization, because
without the knowledge of the maze, the robot is essentially blind.
Also.
How often do we need to update the map?
Depends on the environment characteristics, whether it was static or dynamic.
Now let us discuss the different types of mapping.
So there are two types.
Starting with the first time that is known as great mapping.
In good mapping.
The environment is represented by specific coordinates for each area.
For example, in Google Maps, each location is represented by its precise coordinates.
The next stop is known as topological.
Here instead of representing every region, only the region of interest and the relationship is taught.
For example, in Metro Map, only the metro stations and their distances are shown.
Now reachable mech mapping.
Will you require?
It depends on your case.
What exactly is our case?
Now we have the complete means in view and it is static, meaning the mapping needs to be done only
once.
A few assumptions that we need to make is that we only consider museums that have one star.
And one exit.
Our math can have multiple past was the exit, but the balls are non reversible, meaning they can not
be passed through.
So the goal for our kids is that we first convert the image.
Into an occupancy which represents the region which could be passed through or could not.
Now we could stop here, but this would mean a lot of redundant regions.
Instead we go ahead and perform topological mapping and extract the graph from those occupancy grade.
This graph only contained the region of interest and the distances between each connected bit of region
of interest.
Now.
Let's do that.