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Please use this identifier to cite or link to this item:
http://hdl.handle.net/10016/9854
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| Title: | Compact Modeling Technique for Outdoor Navigation |
| Author(s): | Castejón, Cristina
Blanco Rojas, Dolores
Moreno, Luis |
| Publisher: | Institute of Electrical and Electronics Engineers (IEEE) |
| Issued date: | Jan-2008 |
| Citation: | IEEE Transactions on Systems, Man and Cybernetics, Part A: Systems and Humans, 2008, v. 38, n. 1, p. 9-24 |
| URI: | http://hdl.handle.net/10016/9854 |
| ISSN: | 1083-4427 |
| DOI: | 10.1109/TSMCA.2007.904786 |
| Description: | 16 pages, 46 figures. |
| Abstract: | In this paper, a new methodology to build compact local maps in real time for outdoor robot navigation is presented. The environment information is obtained from a 3-D scanner laser. The navigation model, which is called traversable region model, is based on a Voronoi diagram technique, but adapted to large outdoor environments. The model obtained with this methodology allows a definition of safe trajectories that depend on the robot's capabilities and the terrain properties, and it will represent, in a topogeometric way, the environment as local and global maps. The application presented is validated in real outdoor environments with the robot called GOLIAT. |
| Sponsor: | This work was supported by the Spanish Government through the MICYT project DPI2003-01170. |
| Publisher version: | http://dx.doi.org/10.1109/TSMCA.2007.904786 |
| Keywords: | Navigation map
Outdoor
Robot mapping
Traversability
3-D scanner laser |
| Appears in Collections: | DISA - LSI - Artículos de Revistas
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