3D Navigation Mesh Generation for Path Planning in Uneven Terrain

DC FieldValueLanguage
dc.contributor.authorPütz, S.
dc.contributor.authorWiemann, T.
dc.contributor.authorSprickerhof, J.
dc.contributor.authorHertzberg, J.
dc.date.accessioned2021-12-23T16:32:09Z-
dc.date.available2021-12-23T16:32:09Z-
dc.date.issued2016
dc.identifier.issn24058963
dc.identifier.urihttps://osnascholar.ub.uni-osnabrueck.de/handle/unios/17242-
dc.description.abstractWe 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.isoen
dc.publisherElsevier B.V.
dc.relation.ispartofIFAC-PapersOnLine
dc.subject3D point cloud
dc.subjectGraph structures
dc.subjectLocal connectivity
dc.subjectMesh Generation
dc.subjectMobile robots
dc.subjectMotion planning
dc.subjectNavigation systems
dc.subjectOn-line path planning
dc.subjectOutdoor environment
dc.subjectPath Planning
dc.subjectRobot Navigation
dc.subjectRobot programming
dc.subjectSurface Reconstruction
dc.subjectSurface reconstruction, 3D navigation
dc.subjectTrafficability
dc.subjectUneven terrain, Mesh generation
dc.title3D Navigation Mesh Generation for Path Planning in Uneven Terrain
dc.typeconference paper
dc.identifier.doi10.1016/j.ifacol.2016.07.734
dc.identifier.scopus2-s2.0-84991061372
dc.identifier.urlhttps://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.volume49
dc.description.issue15
dc.description.startpage212
dc.description.endpage217
dcterms.isPartOf.abbreviationIFAC-PapersOnLine
crisitem.author.deptFB 06 - Mathematik/Informatik-
crisitem.author.deptidfb06-
crisitem.author.orcid0000-0003-0710-872X-
crisitem.author.parentorgUniversität Osnabrück-
crisitem.author.netidWiTh428-
crisitem.author.netidHeJo177-
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