Surface Mesh Map Building and Path Planning for 3D Terrain
Yoshitaka Hara, Masahiro Tomono · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2018
We propose a mapping and path planning method for 3D terrain. This method introduces Surface Mesh Map representation that has a graph structure. We use polygon mesh reconstruction method to generate the graph for path planning, which consists of nodes and arcs with costs of slope, roughness, height difference, and distance. The experiments show the proposed method is effective for path planning in 3D terrain.