Representing a 3-D environment with a 2 1/2 -D map structure

This paper explores the development of a two and one-half dimensional (2 1/2 -D) map structure to provide an autonomous mobile robot with a more three-dimensional (3-D) model of its environment than those afforded by current map structures. The 2 1/2 -D map structure was created by modifying the widely used evidence grid to store a height, along with a probability value, in each cell location to record the varying elevations of a 3-D environment. Results show that this map structure is capable of providing an autonomous mobile robot with a representation of a limited 3-D environment that will allow it to perform obstacle detection, path planning, and to an extent, localization.

Authors

• Edward H. L. Fong
• William Adams
• Frederick L. Crabbe
• Alan C. Schultz

Keywords

• Mobile robots
• Path planning
• Navigation
• Two dimensional displays
• Artificial intelligence
• Laboratories
• Robot control
• Probability Values
• Obstacle Avoidance
• Automated Guided Vehicles
• Grid Cells
• Computational Requirements
• Height Values
• Actual Position
• Recorded Values
• Sensor Model
• Map Representation
• Elevation Change
• Sensor Readings
• Position Of The Robot
• Local Capabilities
• Store Of Value
• Object Height
• Robot Localization