Voxplan: A 3D Global Planner using Signed Distance Function Submaps
Laura Gasser Alexander Millane Victor Reijgwart Rik Bähnemann Roland Siegwart Laura Gasser Alexander Millane Victor Reijgwart Rik Bähnemann Roland Siegwart
The ability to safely navigate through complex and cluttered environments is required for a wide range of robotics applications. This paper introduces a framework to compute safe global paths in maps represented as collections of 3D Signed Distance Function (SDF) submaps. Such maps are able to maintain global consistency in spite of odometry drift. However, computationally efficient global path pl...