RT Journal Article
T1 Compact Modeling Technique for Outdoor Navigation
A1 Castejón Sisamón, Cristina
A1 Blanco Rojas, María Dolores
A1 Moreno, Luis
AB 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.
PB Institute of Electrical and Electronics Engineers (IEEE)
SN 1083-4427
YR 2008
FD 2008-01
LK https://hdl.handle.net/10016/9854
UL https://hdl.handle.net/10016/9854
LA eng
NO 16 pages, 46 figures.
NO This work was supported by the Spanish Government through the MICYT project DPI2003-01170.
DS e-Archivo
RD 19 may. 2024