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Mapping and Navigation in Urban Environments

The robot for mapping and navigation

Diagram of the mapping and navigation system

Laser data and robot pose data are sent to the remote laptop computer via wireless network and map-building and obstacle avoidance/negotiation process are visualized in the laptop computer in real-time.

An experiment in outdoor urban environment

 

 

 

 

 

 

 

Outdoor terrain outside Fribourgh Hall at UALR

    (a) 3-D map visualization

    (b) Elevation map visualization

    (c) Traversability map visualization

The navigation task for the robot is to go from S3 to G4. The robot must avoid all obstacles and curbs, but traverse the ramp.
          Send mail to Dr. Ye with questions or comments about this web site. Last modified: 09/22/09