Local path planning in unknown environment by local 3d elevation map construction
نویسندگان
چکیده
The paper deals with the problem of computing a path for an autonomous mobile robot, provided by a stereovosion camera, trough obstacles in an unknown environment with rough ground. The planner makes use of a 3D map reporting the presence and the highness of obstacles together with the shape of the ground and its discontinuities, under the hypothesis of stationarity. A local solution, with an expanding algorithm, is proposed. Some experimental results are reported to validate the proposed technique.
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تاریخ انتشار 2005