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Traverse a 3D building

asked 2017-12-10 11:34:31 -0500

bxl gravatar image

I have a drone which I would like to find the better way to traverse an 3D buildings from start point to an end point, regarding some conditons:

1- the drone must pass throught all the possible aisles of the buildings at lest once and as few times as possible, i.e. the drone must cover all the environment;

2- the 3D building is already known (not a mapping case), so the drone doesn´t use any kind of sensor to perform this task.

Anyone knows the best algorithm to do this task? I kown there are some grid-based (A, D) and some other sample-based like RRT. And how can I feed the algorithm?

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answered 2017-12-10 11:55:04 -0500

This sounds similar to the seven bridges of konigsberg problem.

So you'll have to convert your 3D map of the building into a graph before solving this, this step is probably the hardest part of this challenge and will depend on what type of representation your map is in. If it is a mesh then finding the genus) of it is probably a good start.

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Thanks for replying. Actually my map is a Collada file that built in an 3D model toll and exported to gazebo simulator. So I have it in sdf as well.

bxl gravatar imagebxl ( 2017-12-10 15:13:40 -0500 )edit

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Asked: 2017-12-10 11:34:31 -0500

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Last updated: Dec 10 '17