LOCAL PATH PLANNING IN UNKNOWN ENVIRONMENT BY LOCAL 3D ELEVATION MAP CONSTRUCTION

A. Usai, P. Di Giamberardino

Abstract

The paper deals with the problem of computing a path for an autonomous mobile robot, provided by a stere-ovosion 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.

References

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Paper Citation


in Harvard Style

Usai A. and Di Giamberardino P. (2005). LOCAL PATH PLANNING IN UNKNOWN ENVIRONMENT BY LOCAL 3D ELEVATION MAP CONSTRUCTION . In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 972-8865-30-9, pages 403-406. DOI: 10.5220/0001167004030406


in Bibtex Style

@conference{icinco05,
author={A. Usai and P. Di Giamberardino},
title={LOCAL PATH PLANNING IN UNKNOWN ENVIRONMENT BY LOCAL 3D ELEVATION MAP CONSTRUCTION},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2005},
pages={403-406},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001167004030406},
isbn={972-8865-30-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - LOCAL PATH PLANNING IN UNKNOWN ENVIRONMENT BY LOCAL 3D ELEVATION MAP CONSTRUCTION
SN - 972-8865-30-9
AU - Usai A.
AU - Di Giamberardino P.
PY - 2005
SP - 403
EP - 406
DO - 10.5220/0001167004030406