3D Navigation Mesh Generation for Path Planning in Uneven Terrain
| Autor(en): | Pütz, S. Wiemann, T. Sprickerhof, J. Hertzberg, J. |
Stichwörter: | 3D point cloud; Graph structures; Local connectivity; Mesh Generation; Mobile robots; Motion planning; Navigation systems; On-line path planning; Outdoor environment; Path Planning; Robot Navigation; Robot programming; Surface Reconstruction; Surface reconstruction, 3D navigation; Trafficability; Uneven terrain, Mesh generation | Erscheinungsdatum: | 2016 | Herausgeber: | Elsevier B.V. | Journal: | IFAC-PapersOnLine | Volumen: | 49 | Ausgabe: | 15 | Startseite: | 212 | Seitenende: | 217 | Zusammenfassung: | We present a 3D mesh surface navigation system for mobile robots. This system uses a 3D point cloud to reconstruct a triangle mesh of the environment in real time that is enriched with a graph structure to represent local connectivity. This Navigation Mesh is then analyzed for roughness and trafficability and used for online path planning. The presented approach is evaluated with a VolksBot XT platform in a real life outdoor environment. © 2016 |
ISSN: | 24058963 | DOI: | 10.1016/j.ifacol.2016.07.734 | Externe URL: | https://www.scopus.com/inward/record.uri?eid=2-s2.0-84991061372&doi=10.1016%2fj.ifacol.2016.07.734&partnerID=40&md5=cdb23414b46167b42d04e812c2be61c9 |
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