| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 708732 | IFAC-PapersOnLine | 2016 | 6 Pages |
Abstract
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.
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
Authors
Sebastian Pütz, Thomas Wiemann, Jochen Sprickerhof, Joachim Hertzberg,