On Terrain Model Acquisition by a Point Robot Amidst Polyhedral Obstacles
We consider the problem of terrain model acquisition by a roving point placed in an unknown terrain populated by stationary polyhedral obstacles in two/three dimensions. The motivation for this problem is that after the terrain model is completely acquired, navigation from a source point to a destination point can be achieved along the collision-free paths. And this can be done without the usage of sensors by applying the existing techniques for the well-known find-path problem. In this communication, the Point Robot Autonomous Machine (PRAM) is used as a simplified abstract model for real-life roving robots. We presen! an algorithm that enables PRAM to autonomously acquire the model of an unexplored obstacle terrain composed of an unknown number of polyhedral obstacles in two/three dimensions. In our method, PRAM undertakes a systematic exploration of the obstacle terrain with its sensor that detects all the edges and vertices visible from the present location, and builds the complete obstacle terrain model.
|Journal||IEEE Journal on Robotics and Automation|
Rao, N.S.V. (Nageswara S. V.), Iyengar, S.S. (S. S.), Oommen, J, & Kashyap, R.L. (R. L.). (1988). On Terrain Model Acquisition by a Point Robot Amidst Polyhedral Obstacles. IEEE Journal on Robotics and Automation, 4(4), 450–455. doi:10.1109/56.812