Planning 3-D Path Networks in Unstructured Environments

Nicolas Vandapel, James Kuffner and Omead Amidi
Conference Paper, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 4624 - 4629, April, 2005

View Publication

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.


In this paper, we explore the problem of three-dimensional motion planning in highly cluttered and unstructured outdoor environments. Because accurate sensing and modeling of obstacles is notoriously difficult in such environments, we aim to build computational tools that can handle large point data sets (e.g. LADAR data). Using a priori aerial data scans of forested environments, we compute a network of free space bubbles forming safe paths within environments cluttered with tree trunks, branches and dense foliage. The network (roadmap) of paths is used for efficiently planning paths that consider obstacle clearance information. We present experimental results on large point data sets typical of those faced by Unmanned Aerial Vehicles, but also applicable to ground-based robots navigating through forested environments.

author = {Nicolas Vandapel and James Kuffner and Omead Amidi},
title = {Planning 3-D Path Networks in Unstructured Environments},
booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
year = {2005},
month = {April},
pages = {4624 - 4629},
} 2017-09-13T10:43:30-04:00