DC Field | Value | Language |
dc.contributor.author | Pütz, S. | |
dc.contributor.author | Wiemann, T. | |
dc.contributor.author | Sprickerhof, J. | |
dc.contributor.author | Hertzberg, J. | |
dc.date.accessioned | 2021-12-23T16:32:09Z | - |
dc.date.available | 2021-12-23T16:32:09Z | - |
dc.date.issued | 2016 | |
dc.identifier.issn | 24058963 | |
dc.identifier.uri | https://osnascholar.ub.uni-osnabrueck.de/handle/unios/17242 | - |
dc.description.abstract | 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 | |
dc.language.iso | en | |
dc.publisher | Elsevier B.V. | |
dc.relation.ispartof | IFAC-PapersOnLine | |
dc.subject | 3D point cloud | |
dc.subject | Graph structures | |
dc.subject | Local connectivity | |
dc.subject | Mesh Generation | |
dc.subject | Mobile robots | |
dc.subject | Motion planning | |
dc.subject | Navigation systems | |
dc.subject | On-line path planning | |
dc.subject | Outdoor environment | |
dc.subject | Path Planning | |
dc.subject | Robot Navigation | |
dc.subject | Robot programming | |
dc.subject | Surface Reconstruction | |
dc.subject | Surface reconstruction, 3D navigation | |
dc.subject | Trafficability | |
dc.subject | Uneven terrain, Mesh generation | |
dc.title | 3D Navigation Mesh Generation for Path Planning in Uneven Terrain | |
dc.type | conference paper | |
dc.identifier.doi | 10.1016/j.ifacol.2016.07.734 | |
dc.identifier.scopus | 2-s2.0-84991061372 | |
dc.identifier.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 | |
dc.description.volume | 49 | |
dc.description.issue | 15 | |
dc.description.startpage | 212 | |
dc.description.endpage | 217 | |
dcterms.isPartOf.abbreviation | IFAC-PapersOnLine | |
crisitem.author.dept | FB 06 - Mathematik/Informatik | - |
crisitem.author.deptid | fb06 | - |
crisitem.author.orcid | 0000-0003-0710-872X | - |
crisitem.author.parentorg | Universität Osnabrück | - |
crisitem.author.netid | WiTh428 | - |
crisitem.author.netid | HeJo177 | - |