Path Planning Using 3D Grid Representation in Complex Environment
نویسندگان
چکیده
To tackle with mobile robot path planning problem, we developed a novel path planning method utilized 3D grid map. Firstly we construct point cloud map using mobile robot equipped with 3D-LRF, then we transform point cloud into octree data structure, getting 3D grid map. We take mobile robots size and motion into consideration, develop a D* lite algorithm based path planning method which can generate 3D trajectory of mobile robot in 3D maps directly. We constructed the 3D grid maps of different environments with many obstacles and generalized passable paths, we tested this method with both simulations and experiments, the results validated the reliability and practicality of this method.
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