Path planning in 3D environments using the normal distributions transform
2010 (English)In: IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems (IROS 2010), 2010, 3263-3268 p.Conference paper (Other academic)
Planning feasible paths in fully three-dimensional environments is a challenging problem. Application of existing algorithms typically requires the use of limited 3D representations that discard potentially useful information. This article proposes a novel approach to path planning that utilizes a full 3D representation directly: the Three-Dimensional Normal Distributions Transform (3D-NDT). The well known wavefront planner is modified to use 3D-NDT as a basis for map representation and evaluated using both indoor and outdoor data sets. The use of 3D-NDT for path planning is thus demonstrated to be a viable choice with good expressive capabilities.
Place, publisher, year, edition, pages
2010. 3263-3268 p.
Research subject Computer and Systems Science
IdentifiersURN: urn:nbn:se:oru:diva-19086ISI: 000287672000047ISBN: 978-1-4244-6675-7OAI: oai:DiVA.org:oru-19086DiVA: diva2:445259
IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan Oct 18-22, 2010