ARIA-Users
Date Index
Thread Index
Re: [Aria-users] big maps and arnl
- To: Dennis Gamrad <XXXXXXXX>
- Subject: Re: [Aria-users] big maps and arnl
- From: Matt LaFary <XXXXXXXX>
- Date: Wed, 19 Apr 2006 13:00:36 -0400
- Cc: XXXXXXXX
- Content-Transfer-Encoding: 7bit
- Content-Type: text/plain; charset=ISO-8859-1; format=flowed
- Delivered-To: XXXXXXXX
- Delivered-To: XXXXXXXX
- In-Reply-To: <000001c663af$92c57ac0$XXXXXXXX>
- Old-Return-Path: <XXXXXXXX>
- References: <000001c663af$92c57ac0$XXXXXXXX>
- Resent-Date: Wed, 19 Apr 2006 12:56:36 -0400 (EDT)
- Resent-From: XXXXXXXX
- Resent-Message-ID: <XXXXXXXX>
- Resent-Reply-To: XXXXXXXX
- Resent-Sender: XXXXXXXX
- User-Agent: Thunderbird 1.5 (Windows/20051201)
20m x 50m isn't too big. We've use maps larger than that without
problems (we've done about 200m x 400m without problems). The biggest
parameter you'll want to change is the PlanRes inside of Path Planning
Parameters. This is an O(n^2) effect, so if you go from 100 to 200
you've made it take 1/4 the processing (this can actually wind up
speeding it up by more than 4 times though, because of processor caching
and memory bandwidths and what not).
Matt LaFary
MobileRobots Inc
ActivMedia Robotics
Dennis Gamrad wrote:
> Hallo,
>
>
>
> my navigation-program works, but with big maps it is very, very slow.
> The dimensions of the map are 20000mm x 50000mm. Is this too big? Which
> parameters should I change to get better results?
>
>
>
> Thank you
>
>
>
> Dennis Gamrad
>
>
>