Tham khảo tài liệu 'robot localization and map building part 14', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | A WSNs-based Approach and System for Mobile Robot Navigation 449 Fig. 3. Normalized gradient potential B. Construction of the Environment Based on WSNs In the monitoring area after deploying 250 WSN nodes the studied area is divided into many triangular sub regions with WSN nodes as their vertexes applying the method of Delaunay triangulation . Implement interpolation for temperature humidity and gradient information according to equation 3 the performance after interpolation is shown in fig6 and fig7. Fig. 4. Delaunay triangulation 450 Robot Localization and Map Building Fig. 5. Temperature potential after construction Fig. 6. Humidity potential after construction Fig. 7. Gradient potential after construction C. Create Grid-based Map with the Constructed Environment In simulation the normalized temperature threshold humidity threshold and gradient threshold are respectively designate as and according to the practical situation. Thus when the temperature in certain point is higher than the point is thought to be obstructed by an obstacle and otherwise not be obstructed. Humidity and gradient .
