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Title: Defining the Boundary of Regions in Thematic Map Using Flexible Ellipse Shape Region
Authors: Mohd Hafiz Taib; Muhammad Fahmi Miskon; Hamzah Sakidin; Mohd Nurul Al-Hafiz Sha’abani
DOI:
Aff: Universiti Teknikal Malaysia Melaka, 76100, Durian Tunggal, Melaka, Malaysia.
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Keywords: Mobile Robot; Mapping; Flexible Map; Ellipse Boundary
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Abstract:Mapping is the technique to assign the resources and display the normal data distribution of an environment. The problems of the available map technique are in term of rigid structure or rigid perception of robot heading. Indirectly the available map used a lot of memory space. Therefore, a new technique of map called flexible ellipse shape region is proposed. Its ellipse boundary is flexible (non-rigid) to accommodate the normal data distribution of an environment. Besides that it allows the perception of robot heading to map the normal data distribution of an environment from 0° until 360°. The objective of this research is to know the performance of the map when compared with grid map, perception based map and flexible region map in terms of memory space, accessing time and the accuracy of the map. The experiments were conducted by using Amigobot mobile robot in an L-shaped environment. Amigobot is embedded with directional sensor which is sonar sensor and non-directional sensor light which are sensor and a temperature sensor. The results show that the flexible ellipse shape region technique is at an advantage when mapping non directional data where it succeed to reduce the usage of memory space by 0.27%, 3.95% and 54.55% when compared to the grid map, perception based map and flexible region map. Consequently, the flexible ellipse shape region also used less accessing time when compared to the perception based map and flexible region map in situation where the number of region created is lower. As a tradeoff, it is found that the accuracy of mapping for the flexible ellipse shape region is lower by 12.4% and 1.8% when mapped the directional and non-directional sensor data when compared to the flexible region map.Ű