Application of splines to three-dimensional map building for mobile robot

Abstract

In mobile robot applications, building a map for mobile robot is very important task. In this work, a surface-based on numerical method such as Splines is used to investigate a model for the robot path planning. The developed algorithm generates a free collision path through the use of Splines for extracting the triangular mesh in the 3D environment surface. The triangular mesh helps the robot to locate the different stationary obstacles, the mobile robot and to track the target position. Synthetic Aperture Radar (SAR) sensors are used for acquiring the data related to the environment and the obstacles. The obtained results are very satisfactory