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.


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.

Deutsches Forschungszentrum für Künstliche Intelligenz
German Research Center for Artificial Intelligence