Aktiviteter pr. år
Abstract
Mobile robots dedicated in security tasks should
be capable of clearly perceiving their environment to competently
navigate within cluttered areas, so as to accomplish
their assigned mission. The paper in hand describes such an
autonomous agent designed to deploy competently in hazardous
environments equipped with a laser scanner sensor. During the
robot’s motion, consecutive scans are obtained to produce dense
3D maps of the area. A 3D point cloud registration technique
is exploited to merge the successively created maps during
the robot’s motion followed by an ICP refinement step. The
reconstructed 3D area is then top-down projected with great
resolution, to be fed in a path planning algorithm suitable
to trace obstacle-free trajectories in the explored area. The
main characteristic of the path planner is that the robot’s
embodiment is considered for producing detailed and safe
trajectories of 1 cm resolution. The proposed method has been
evaluated with our mobile robot in several indoor and outdoor
scenarios revealing remarkable performance.
be capable of clearly perceiving their environment to competently
navigate within cluttered areas, so as to accomplish
their assigned mission. The paper in hand describes such an
autonomous agent designed to deploy competently in hazardous
environments equipped with a laser scanner sensor. During the
robot’s motion, consecutive scans are obtained to produce dense
3D maps of the area. A 3D point cloud registration technique
is exploited to merge the successively created maps during
the robot’s motion followed by an ICP refinement step. The
reconstructed 3D area is then top-down projected with great
resolution, to be fed in a path planning algorithm suitable
to trace obstacle-free trajectories in the explored area. The
main characteristic of the path planner is that the robot’s
embodiment is considered for producing detailed and safe
trajectories of 1 cm resolution. The proposed method has been
evaluated with our mobile robot in several indoor and outdoor
scenarios revealing remarkable performance.
Originalsprog | Engelsk |
---|---|
Publikationsdato | 2013 |
Status | Udgivet - 2013 |
Udgivet eksternt | Ja |
Begivenhed | International Workshop on Robots and Sensors integration in future rescue information system - Big Sight Conference Venue, Tokyo, Japan Varighed: 7 nov. 2013 → 7 nov. 2013 Konferencens nummer: 3 |
Workshop
Workshop | International Workshop on Robots and Sensors integration in future rescue information system |
---|---|
Nummer | 3 |
Lokation | Big Sight Conference Venue |
Land/Område | Japan |
By | Tokyo |
Periode | 07/11/2013 → 07/11/2013 |
Fingeraftryk
Dyk ned i forskningsemnerne om '3D Maps Registration and Path Planning for Autonomous Robot Navigation'. Sammen danner de et unikt fingeraftryk.Aktiviteter
-
International Workshop on Robots and Sensors integration in future rescue information system
Dimitris Chrysostomou (Deltager)
7 nov. 2013Aktivitet: Deltagelse i faglig begivenhed › Organisering af eller deltagelse i workshop, kursus, seminar, udstilling eller lignende
-
IEEE/RSJ International Conference on Intelligent Robots and Systems
Dimitrios Chrysostomou (Deltager)
3 nov. 2013 → 8 nov. 2013Aktivitet: Deltagelse i faglig begivenhed › Organisering af eller deltagelse i konference