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 𝒢𝒪Lℐ𝒜𝒯. 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.