3D Maps Registration and Path Planning for Autonomous Robot Navigation

Konstantinos Charalampous, Dimitrios Chrysostomou, Ioannis Kostavelis, Angelos A. Amanatiadis, Antonios Gasteratos

Publikation: Konferencebidrag uden forlag/tidsskriftPaper uden forlag/tidsskriftForskningpeer review

Abstrakt

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.
OriginalsprogEngelsk
Publikationsdato2013
StatusUdgivet - 2013
Udgivet eksterntJa
BegivenhedInternational Workshop on Robots and Sensors integration in future rescue information system - Big Sight Conference Venue, Tokyo, Japan
Varighed: 7 nov. 20137 nov. 2013
Konferencens nummer: 3

Workshop

WorkshopInternational Workshop on Robots and Sensors integration in future rescue information system
Nummer3
LokationBig Sight Conference Venue
LandJapan
ByTokyo
Periode07/11/201307/11/2013

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