Real-Time Map Generation Using Constraint Delaunay Triangulation

  • Peng Wang
  • Yi Liu
  • Taiheng Jin
  • May Huang
Part of the Lecture Notes in Computer Science book series (LNCS, volume 6935)

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 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2011

Authors and Affiliations

  • Peng Wang
    • 1
  • Yi Liu
    • 1
  • Taiheng Jin
    • 2
  • May Huang
    • 2
  1. 1.School of Software and MicroelectronicsPeking UniversityBeijingP.R. China
  2. 2.Department of Electrical EngineeringInternational Technological UniversitySan JoseUSA

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