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ICRA
2005
IEEE

Planning 3-D Path Networks in Unstructured Environments

10 years 3 months ago
Planning 3-D Path Networks in Unstructured Environments
Abstract— In this paper, we explore the problem of threedimensional motion planning in highly cluttered and unstructured outdoor environments. Because accurate sensing and modeling of obstacles is notoriously difficult in such environments, we aim to build computational tools that can handle large point data sets (e.g. LADAR data). Using a priori aerial data scans of forested environments, we compute a network of free space bubbles forming safe paths within environments cluttered with tree trunks, branches and dense foliage. The network (roadmap) of paths is used for efficiently planning paths that consider obstacle clearance information. We present experimental results on large point data sets typical of those faced by Unmanned Aerial Vehicles, but also applicable to ground-based robots navigating through forested environments.
Nicolas Vandapel, James Kuffner, Omead Amidi
Added 25 Jun 2010
Updated 25 Jun 2010
Type Conference
Year 2005
Where ICRA
Authors Nicolas Vandapel, James Kuffner, Omead Amidi
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