3D Maps Registration and Path Planning for Autonomous Robot Navigation

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

Research output: Contribution to conference without publisher/journalPaper without publisher/journalResearchpeer-review

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.
Original languageEnglish
Publication date2013
Publication statusPublished - 2013
Externally publishedYes
EventInternational Workshop on Robots and Sensors integration in future rescue information system - Big Sight Conference Venue, Tokyo, Japan
Duration: 7 Nov 20137 Nov 2013
Conference number: 3

Workshop

WorkshopInternational Workshop on Robots and Sensors integration in future rescue information system
Number3
LocationBig Sight Conference Venue
CountryJapan
CityTokyo
Period07/11/201307/11/2013

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