Topographical analysis for Voronoi-based modelling

摘要

To navigate in an unknown outdoor environments a robot needs robust sensor systems to react to Unexpected situations or to changing environments. Furthermore, if the robot's task is the unknown environments exploration, a fast and simple model to sense and to navigate in real-time is needed. This model will depend on the terrain type and the robot's physical restrictions. The main goal in this paper, will be the construction of an environment model, which is useful for navigation in simple outdoor environments. This map is adapted to a long size intelligent autonomous robot, called GOLIATAT. A terrain topographical analysis will be carried out to differentiate between the interest's regions for a roadmap constructor. Experimental results in real environments using a real platform will be presented.