Topographical analysis for Voronoi-based modelling

To navigate in an unknown outdoor environment a robot needs robust sensor systems to react to unexpected situations or to changing environments. Furthermore, if the robot's task is the unknown environments exploration, a fast and simple model to sense and to navigate in real-time is needed. This model depends on the terrain type and the robot's physical restrictions. The main goal in this paper is the construction of an environment model, which is useful for navigation in simple outdoor environments. This map is adapted to a long size intelligent autonomous robot, called /spl Gscr//spl Oscr//spl Lscr//spl Iscr//spl Ascr//spl Tscr/. A terrain topographical analysis is carried out to differentiate between the interest's regions for a roadmap constructor. Experimental results in real environments using a real platform are presented.