Constrained Delaunay triangulations
SCG '87 Proceedings of the third annual symposium on Computational geometry
Incremental computation of planar maps
SIGGRAPH '89 Proceedings of the 16th annual conference on Computer graphics and interactive techniques
The weighted region problem: finding shortest paths through a weighted planar subdivision
Journal of the ACM (JACM)
Triangle: Engineering a 2D Quality Mesh Generator and Delaunay Triangulator
FCRC '96/WACG '96 Selected papers from the Workshop on Applied Computational Geormetry, Towards Geometric Engineering
Artificial Intelligence: A Modern Approach
Artificial Intelligence: A Modern Approach
Stanley: The robot that won the DARPA Grand Challenge: Research Articles
Journal of Robotic Systems - Special Issue on the DARPA Grand Challenge, Part 2
Computational Geometry: Algorithms and Applications
Computational Geometry: Algorithms and Applications
Discrete abstractions for robot motion planning and control in polygonal environments
IEEE Transactions on Robotics
Vibration-based terrain classification for planetary exploration rovers
IEEE Transactions on Robotics
Vector fields for robot navigation along time-varying curves in n-dimensions
IEEE Transactions on Robotics
Efficient roughness recognition for velocity updating by wheeled-robots navigation
MCPR'10 Proceedings of the 2nd Mexican conference on Pattern recognition: Advances in pattern recognition
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This paper presents a methodology for motion planning in outdoor environments that takes into account specific characteristics of the terrain. Instead of decomposing the robot configuration space into "free" and "occupied", we consider the existence of several regions with different navigation costs. In this paper, costs are determined experimentally by navigating the robot through the regions and measuring the influence of the terrain on its motion. We measure the robot's vertical acceleration, which reflects the terrain roughness. The paper presents a hybrid (discrete-continuous) approach to guide and control the robot. After decomposing the map into triangular cells, a path planning algorithm is used to determine a discrete sequence of cells that minimizes the navigation cost. Robot control is accomplished by a fully continuous vector field that drives the robot through the sequence of triangular cells. This vector field allows smooth robot trajectories from any position inside the sequence to the goal, even for a small number of large cells. Moreover, the vector field is terrain dependent in the sense it changes the robot velocity according to the characteristics of the terrain. Experimental results with a differential driven, all-terrain mobile robot illustrate the proposed approach.