Compact Modeling Technique for Outdoor Navigation Articles uri icon

publication date

  • January 2008

start page

  • 9

end page

  • 24

issue

  • 1

volume

  • 38

international standard serial number (ISSN)

  • 1083-4427

electronic international standard serial number (EISSN)

  • 1558-2426

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.