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.

Additional Metadata
Persistent URL dx.doi.org/10.1109/56.812
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