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Path planning in 3D environments using the normal distributions transform
Örebro University, School of Science and Technology.ORCID iD: 0000-0002-6013-4874
Örebro University, School of Science and Technology.ORCID iD: 0000-0001-8658-2985
Örebro University, School of Science and Technology.ORCID iD: 0000-0002-2953-1564
Örebro University, School of Science and Technology.ORCID iD: 0000-0003-0217-9326
2010 (English)In: IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems (IROS 2010), IEEE conference proceedings, 2010, 3263-3268 p.Conference paper, Published paper (Other academic)
Abstract [en]

Planning feasible paths in fully three-dimensional environments is a challenging problem. Application of existing algorithms typically requires the use of limited 3D representations that discard potentially useful information. This article proposes a novel approach to path planning that utilizes a full 3D representation directly: the Three-Dimensional Normal Distributions Transform (3D-NDT). The well known wavefront planner is modified to use 3D-NDT as a basis for map representation and evaluated using both indoor and outdoor data sets. The use of 3D-NDT for path planning is thus demonstrated to be a viable choice with good expressive capabilities.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2010. 3263-3268 p.
National Category
Computer Science
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-19086DOI: 10.1109/IROS.2010.5650789ISI: 000287672000047ISBN: 978-1-4244-6675-7 (print)OAI: oai:DiVA.org:oru-19086DiVA: diva2:445259
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan Oct 18-22, 2010
Available from: 2011-10-03 Created: 2011-09-30 Last updated: 2017-03-06Bibliographically approved

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Stoyanov, TodorMagnusson, MartinAndreasson, HenrikLilienthal, Achim J.
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CiteExportLink to record
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Citation style
  • apa
  • ieee
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  • de-DE
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Output format
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