Application of Splines to Three-dimensional Map Building for Mobile Robot

摘要

In mobile robot applications, building a map for mobile robot  is very important task. In this work, a surface-based on numerical method such as Splines is used to investigate a model for the robot path planning. The developed  algorithm generates a free collision path starting from the initial position to the target position through the use of the Splines for extracting the triangular mesh in the 3D environment surface. The triangular mesh helps the robot to locate the different obstacles which are stationary as well as mobile and to track the target position free of collision. Synthetic Aperture Radar (SAR) sensors are used for acquiring the data related to the environment and the obstacles. The obtained results are very satisfactory.