Real-time map generation using constraint Delaunay triangulation

  • Authors:

  • Peng Wang;Yi Liu;Taiheng Jin;May Huang

  • Affiliations:

  • School of Software and Microelectronics, Peking University, Beijing, China;School of Software and Microelectronics, Peking University, Beijing, China;Department of Electrical Engineering, International Technological University, San Jose, CA;Department of Electrical Engineering, International Technological University, San Jose, CA

  • Venue:
  • ICHIT'11 Proceedings of the 5th international conference on Convergence and hybrid information technology
  • Year:
  • 2011

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Abstract

Navigation and automatic map generation are critical in robotics. This paper presents a map generation and navigation algorithm using constraint Delaunay triangulation. A local map around a robot is generated and global map of the environment is updated in real-time using the sensor data collected by the robot. Applying Minkowski sum a collision-free path is created to guide the robot moving toward its objective. Experimental results are shown in the paper to present the accuracy of generated maps.