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Contact Dr. Cang Ye

Phone:(804) 828-0346

Google Voice: (501) 237-1818

Fax: (804) 828-2771   

Email: cye@vcu.edu

Laboratory

Dept. of Computer Science

Virginia Commonwealth University

401 West Main Street, E2264

Richmond, VA 23284-3019

Office

Dept. of Computer Science

Virginia Commonwealth University

401 West Main Street, E2240

Richmond, VA 23284-3019


Robotics Laboratory

Department of Computer Science, College of Engineering

Virginia Commonwealth University

© 2016 Dr. Ye's  LAB. ALL RIGHTS RESERVED.

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Mapping and Navigation in Urban Environments

Laser data and robot pose data are sent to the remote laptop computer via wireless network and map-building and obstacle avoidance/negotiation process are visualized in the laptop computer in real-time.

The robot for mapping and navigation

Diagram of the mapping and navigation system

An experiment in outdoor urban environment

The navigation task for the robot is to go from S3 to G4. The robot must avoid all obstacles and curbs, but traverse the ramp.

Outdoor terrain outside Fribourgh Hall at UALR

(a) 3-D map visualization

(b) Elevation map visualization

(c) Traversability map visualization