Continuous Shortest Path Vector Field Navigation on 3D Triangular Meshes for Mobile Robots
Sebastian Pütz Thomas Wiemann Malte Kleine Piening Joachim Hertzberg Sebastian Pütz Thomas Wiemann Malte Kleine Piening Joachim Hertzberg
We present a highly efficient approach to compute continuous shortest path vector fields on arbitrarily shaped 3D triangular meshes for robot navigation in complex real-world outdoor environments. The continuity of the vector field allows to query the shortest distance, direction and geodesic path to the goal at any point within the mesh triangles, resulting in accurate paths. In order to avoid im...