Chapter

Convergence and Hybrid Information Technology

Volume 6935 of the series Lecture Notes in Computer Science pp 530-537

Real-Time Map Generation Using Constraint Delaunay Triangulation

  • Peng WangAffiliated withLancaster UniversitySchool of Software and Microelectronics, Peking University
  • , Yi LiuAffiliated withLancaster UniversitySchool of Software and Microelectronics, Peking University
  • , Taiheng JinAffiliated withCarnegie Mellon UniversityDepartment of Electrical Engineering, International Technological University
  • , May HuangAffiliated withCarnegie Mellon UniversityDepartment of Electrical Engineering, International Technological University

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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.

Keywords

robotics map generation constrained triangulation