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How to build 2D map for mobile robot from GPS data?

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I want to build path planning with voronoi diagram. So first of all, I have to build 2D map of robot's environment and then partition their boundaries with voronoi diagram. And then i will convert this map to topological map in order to compute it's shortest path. But this resultant path also must obey traffic law. So now i am confusing with applying GPS system. If i will use GPS , i will get four dimensions (attitude , longitude , height and time). So my question is: 1) How to convert the resultant output of GPS to 2D map? 2) Have I to need apply other sensors ( sonarsensor and camera) to get 2D map? 3) Can I use only GPS system in my mobile robot?(without sonarsensor and camera) P.S my mobile robot is inteneded to travel in township situation but static environment. Thanks in advance.

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This problem (and in particular the use of Voronoi diagrams of mapped regions for path planning)has been well studied. You should try using a simple search method such as [google] before posting here, which would make life a lot easier for you. For example, a simple search of 'robot voronoi mapping' returns the following as the top link

http://www.cs.columbia.edu/~pblaer/projects/path_planner/

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