PATH PLANNING FOR MOBILE ROBOTS OPERATING IN OUTDOOR ENVIRONMENTS USING MAP OVERLAY AND TRIANGULAR DECOMPOSITION

摘要

Abstract. This paper addresses the mobile robot motion planning problem in outdoor environments, which are large, sparsely occupied workspaces with uneven terrains. We present results in path planning using an efficient discretization method based on Constrained Delaunay Triangulation (CDT) and classical graph searching algorithms. CDT has been proven to be a good method for representing complex shaped objects and regions, very common in outdoor environments. In order to combine several constraints associated with different forms of interaction between robot and workspace, map overlay techniques are used.