3D Navigation Mesh Generation for Path Planning in Uneven Terrain

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• 作者：Sebastian Pü ; tz^* ; ^{spuetz@uni-osnabrueck.de" class="auth_mail" title="E-mail the corresponding author} ; Thomas Wiemann^** ; ^{twiemann@uni-osnabrueck.de" class="auth_mail" title="E-mail the corresponding author} ; Jochen Sprickerhof^*** ; ^{jspricke@uni-osnabrueck.de" class="auth_mail" title="E-mail the corresponding author} ; Joachim Hertzberg^**** ; ^{joachim.hertzberg@uni-osnabrueck.de" class="auth_mail" title="E-mail the corresponding author}
• 关键词：Robot Navigation ; Path Planning ; Surface Reconstruction ; Mesh Generation
• 刊名：IFAC-PapersOnLine
• 出版年：2016
• 出版时间：2016
• 年：2016
• 卷：49
• 期：15
• 页码：212-217
• 全文大小：1173 K

文摘

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.