Information Technology Reference
In-Depth Information
Fig. 1.
EVG-THIN incorporated in the simulator
robot's geometric dimension and sensing range when navigating in the map, as seen in
Table 1. Setting these parameters correctly is important, because the computed skeleton
and final topology depends substantially on those parameters.
The Patrolling Simulator interface displays a window to set all the input parameters
reusing and evolving the EVG-THIN's code, which is run in background
1
, obtaining
the 1 pixel-thin skeleton of the environment, as seen on Figure 1 (right).
Fig. 2.
Cluster detection and correction. The blue dots correspond to vertices subsequently identi-
fied.
1
Note that this program is released under the GNU General Public License (GPL), which is
intended to guarantee the freedom to share and change free software.
