3-D Environmental Modeling Method Based on Approximate Voronoi Diagram for Mobile Robot
Zixing Cai · Jisuanji fangzhen · 2005
This paper presents an environmental modeling and analytical method for mobile robots under 3-D environment. A smooth filter is adopted to analyze the contour features of environment, and the differential flatness feature map on projection plane is obtained with one order difference equation. The improved Approximate Voronoi Boundary Network method based on enlarging obstacles raster embodies the network structure of the environmental free area with few nodes, so the complexity of path planning problem is reduced largely. Especially the network illustrates the basic contour features of the environment, so it can be a help to the autonomous localization during the navigation of mobile robots.