3D Map Generation Using Kriging Method

-2nd report Path Planning Using A* Algorithm Including Hill-climbing with Gradient Information-

Abstract

In this study, a smooth three-dimensional environmental map was constructed using the Kriging method that is one of the spatial interpolation estimation methods, and the gradient information of the map was used to conduct path planning using the A* algorithm considering hill-climbing. In the experiment of constructing a three-dimensional environmental map, it was possible to construct a qualitatively accurate environmental map on the floor surface, although it was estimated mountainously near the wall. In addition, path planning by the A* algorithm that was considering the cost of a robot’s hill-climbing was possible to conduct after extracting the movable area using the gradient information of the constructed three-dimensional environmental map.