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I am trying to build an autonomous vessel able to plan the best route to a certain waypoint or to follow a pre-defined route.

Currently, I have imported Esri GIS files containing elevation data (coordinates can be extracted from grid size and lower left corner position), and the robot automatically loads in a dynamic vector the correct map using a geofencing algorithm.

The idea is to use elevation data to keep the boat away from shallow water and land, possibly using a D* algorithm to determine the best route. However, those GIS datasets are discrete and sometimes have a pretty low accuracy, while the GPS on board uses RTK to get a 2cm accuracy. The problem comes when I try to convert a discrete distribution in a continuous map, especially for elevation data: there are certain areas where altitude goes from -10 (underwater) to 100 from one point to another. Any ideas?

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