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.
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Wang, P., Liu, Y., Jin, T., Huang, M. (2011). Real-Time Map Generation Using Constraint Delaunay Triangulation. In: Lee, G., Howard, D., Ślęzak, D. (eds) Convergence and Hybrid Information Technology. ICHIT 2011. Lecture Notes in Computer Science, vol 6935. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-24082-9_65
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DOI: https://doi.org/10.1007/978-3-642-24082-9_65
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-24081-2
Online ISBN: 978-3-642-24082-9
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