I have a 3d point cloud of a location on which I am trying to design a path planner for a mobile robot. Can anyone please guide me towards the right approach to take in solving the problem. For the point cloud, I have the coordinates of the obstacles on the map (their x,y,z positions). I am trying to solve the problem as a stand-alone general purpose planner for a mobile robot without using ROS.
My current stumbling block lies in the theoretical aspect as well since the fact that the point cloud consists of just x,y,z points, how is a path planning algorithm like A* run on such types of data where you can't define a general grid like that for a 2d case with each grid cell as a node? I have the coordinates of the obstacles on the map (their x,y,z positions).
Would greatly appreciate if anyone can provide me with some guidance on how to move forward.
I am facing a similar problem. The first step should be calculating the normal vectors of the point cloud. Then, the path can be calculated based on the normal vector.