Publication:
Compact Modeling Technique for Outdoor Navigation

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URI: https://hdl.handle.net/10016/9854
ISSN: 1083-4427
DOI: 10.1109/TSMCA.2007.904786
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compact_castejon_IEEETSMC_2008.pdf (2.63 MB)
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2008-01
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Institute of Electrical and Electronics Engineers (IEEE)
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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.
Description
16 pages, 46 figures.
Keywords
Navigation map, Outdoor, Robot mapping, Traversability, 3-D scanner laser
Bibliographic citation
IEEE Transactions on Systems, Man and Cybernetics, Part A: Systems and Humans, 2008, v. 38, n. 1, p. 9-24
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