Data for: Motion Planning under Uncertainty in Graduated Fidelity Lattices

These are the specifications of each environment used of the manuscript "Motion Planning under Uncertainty in Graduated Fidelity Lattices". **** ENVIRONMENTS **** For each environment the following specifications are given. Units are meters and radians: * Map dimensions: <DIM_X> x <DIM_Y> * Location of the starting pose: (<x>, <y>, <heading>). <heading> = 0 is the direction of the positive X. * Goal position: (<x>, <y>) * min/max position of the location denied areas: (<x>, <y>) ** FIG 8 - Dimensions: 40.0 x 24.8 m - Starting pose: (5.0, 8.0, 0.0) - Goal position: (34.0, 19.0) - Location denied areas: (6.0, 0.0) to (11.0, 7.0) (9.5, 7.0) to (11.0, 8.5) (12.0, 11.0) to (28.0, 17.5) (13.0, 9.0) to (15.0, 11.0) (32.0, 15.0) to (35.0, 20.0) ** FIG 9 - Dimensions: 65.0 x 40.3 m - Starting pose: (4.0, 16.0, 0.0) - Goal position: (56.0, 8.0) - Location denied areas (9a): None - Location denied areas (9b): (25.0, 0.0) to (52.0, 15.5) - Location denied areas (9c): (25.0, 0.0) to (52.0, 15.5) (25.0, 26.0) to (47.0, 40.0) ** FIG 10 - Dimensions: 35.0 x 25.3 m - Starting pose: (19.0, 20.0, 3.1416) - Goal position: (31.0, 5.0) - Location denied areas: (10.0, 0.0) to (35.0, 25.3) ** FIG 11 - Dimensions: 30.0 x 30.0 m - Starting pose: (7.0, 15.0, -1.5708) - Goal position: (5.0, 23.0) - Location denied areas: None **** PPM FILE FORMAT **** Images are provided in the PPM file format (ASCII). These files have the following structure: # line comment ... <N_PIXELS_X> <N_PIXELS_Y> <RGB_VALUE_1> <RGB_VALUE_2> <RGB_VALUE_3> ... <RGB_VALUE_1> <RGB_VALUE_2> <RGB_VALUE_3> This is: after the comment lines (starting with "#"), the first two numbers are the image size (in pixels) Then, three values for each RGB pixel are given. Pixels follow a row-major order. Pixels with R < 10; G < 10; B < 10 are considered occupied. Elsewhere is free space. Please, note that <N_PIXELS_X> <N_PIXELS_Y> contained in these files do not correspond to the dimensions of the environments in the manuscript. Each pixel has a coordinate (X, Y) which is calculated from the resolution of the image and the environment dimensions (DIM_X, DIM_Y): X = PIXEL_X * (DIM_X / N_PIXELS_X) Y = PIXEL_Y * (DIM_Y / N_PIXELS_Y) **** OT FILE FORMAT **** Files to use with the Octomap[1] library are also given. These were generated with Octomap v.1.7.2. These files already have the dimensions used in the experiments and require no additional processing. [1] A. Hornung,. K.M. Wurm, M. Bennewitz, C. Stachniss, and W. Burgard, "OctoMap: An Efficient Probabilistic 3D Mapping Framework Based on Octrees" in Autonomous Robots, 2013; DOI: 10.1007/s10514-012-9321-0. Software available at http://octomap.github.com.以下为论文**《分级保真格点中的不确定性运动规划》（Motion Planning under Uncertainty in Graduated Fidelity Lattices）**中所用各实验环境的详细参数。 **** 实验环境 **** 所有环境均采用米与弧度作为计量单位，各环境的参数如下： * 地图尺寸：<DIM_X> × <DIM_Y> * 初始位姿：(<x>, <y>, <heading>)。其中<heading> = 0时对应X轴正方向。 * 目标位置：(<x>, <y>) * 禁入区域的最小/最大坐标：(<x>, <y>) ** 图8 - 尺寸：40.0 × 24.8 米 - 初始位姿：(5.0, 8.0, 0.0) - 目标位置：(34.0, 19.0) - 禁入区域： (6.0, 0.0) 至 (11.0, 7.0) (9.5, 7.0) 至 (11.0, 8.5) (12.0, 11.0) 至 (28.0, 17.5) (13.0, 9.0) 至 (15.0, 11.0) (32.0, 15.0) 至 (35.0, 20.0) ** 图9 - 尺寸：65.0 × 40.3 米 - 初始位姿：(4.0, 16.0, 0.0) - 目标位置：(56.0, 8.0) - 9a版禁入区域：无 - 9b版禁入区域： (25.0, 0.0) 至 (52.0, 15.5) - 9c版禁入区域： (25.0, 0.0) 至 (52.0, 15.5) (25.0, 26.0) 至 (47.0, 40.0) ** 图10 - 尺寸：35.0 × 25.3 米 - 初始位姿：(19.0, 20.0, 3.1416) - 目标位置：(31.0, 5.0) - 禁入区域： (10.0, 0.0) 至 (35.0, 25.3) ** 图11 - 尺寸：30.0 × 30.0 米 - 初始位姿：(7.0, 15.0, -1.5708) - 目标位置：(5.0, 23.0) - 禁入区域：无 **** PPM 文件格式（PPM File Format）**** 本数据集提供了PPM格式的图像文件，其结构如下： # 行注释 ... <N_PIXELS_X> <N_PIXELS_Y> <RGB_VALUE_1> <RGB_VALUE_2> <RGB_VALUE_3> ... <RGB_VALUE_1> <RGB_VALUE_2> <RGB_VALUE_3> 具体而言，在以"#"开头的注释行之后，前两个数值为图像的像素尺寸（<N_PIXELS_X> × <N_PIXELS_Y>）；随后依次给出每个RGB像素的三个通道数值。像素采用行优先顺序排列。 当像素的R、G、B三个通道值均小于10时，该像素代表占用区域，其余区域则为自由空间。 请注意，文件中给出的<N_PIXELS_X> × <N_PIXELS_Y>与论文中环境的实际尺寸并不一致。每个像素的坐标(X, Y)可通过图像分辨率与环境尺寸（DIM_X, DIM_Y）计算得到，计算公式如下： X = PIXEL_X × (DIM_X / N_PIXELS_X) Y = PIXEL_Y × (DIM_Y / N_PIXELS_Y) **** OT 文件格式（OT File Format）**** 同时提供了适配八叉树地图（Octomap）库可用的OT格式文件，该类文件由八叉树地图（Octomap）v.1.7.2生成，已包含实验所用的环境尺寸，无需额外处理。 [1] A. Hornung, K.M. Wurm, M. Bennewitz, C. Stachniss, 以及 W. Burgard，发表于《Autonomous Robots》2013年的论文《OctoMap: An Efficient Probabilistic 3D Mapping Framework Based on Octrees》；DOI: 10.1007/s10514-012-9321-0。该软件可在 http://octomap.github.com 获取。