Long range navigation using 3-D topological map for general purposes

In this study, given the topological structure, a three dimensional view of a working zone is constructed and analysed using a computer. The topological data is assumed to be present in a numerical format. Then, according to this data, a 3-D shape of the land is represented and viewed from different angles using a mouse or joystick. Alternative paths are entered to the computer and then each path cost functions are calculated. As an example, this may help plan a special mission in an unknown topographic structure. Special goals and spots can be marked on the map. Tracing paths can be planned. Furthermore, the localisation of the vehicle can be effectively planned using a 3-D topological map. The proposed study can also be used to explore or make a survey of a region for some special proposes. Like, laying pipelines or planning power distribution lines. One of the advantages of the proposed modelling scheme is that the surface can be examined and path costs can be calculated on any average personal or notebook computer without requiring high computation speed. Therefore the system can be easily carried on to the working field. Thus, the environment can be geographically observed and the tasks can be planned on the present position.