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Publication

3D Navigation Mesh Generation for Path Planning in Uneven Terrain

Sebastian Pütz; Thomas Wiemann; Jochen Sprickerhof; Joachim Hertzberg
In: Proceedings. IFAC Symposium on Intelligent Autonomous Vehicles (IAV-2016), 9th, June 29 - July 1, Leipzig, Germany, IFAC, 2016.

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.