3D SCENE RECONSTRUCTION AND MOTION PLANNING FOR AN AUTONOMOUS MOBILE ROBOT IN COMPLEX OUTDOOR SCENES

被引：0
|
作者：
Zhuang, Yan [1 ]
Li, Xiaotao [1 ]
Wang, Wei [1 ]
Chen, Hang [1 ]
机构：
[1] Dalian Univ Technol, Res Ctr Informat & Control, Dalian 116024, Peoples R China
来源：
INTERNATIONAL JOURNAL OF INNOVATIVE COMPUTING INFORMATION AND CONTROL | 2011年 / 7卷 / 04期
基金：
中国国家自然科学基金;
关键词：
3D scene reconstruction; Motion planning; 3D laser scanning; Mobile robot;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
3D environment modeling and motion planning are two essential tasks for an autonomous mobile robot's outdoor navigation. In order to implement mobile robot large-scale motion planning, an edge-feature-based ICP algorithm is presented to complete 3D scene registration and reconstruction. According to the respective advantages of geometric features and terrain features, a novel motion planning approach is proposed based on the reconstructed scene. This method integrates the planar features and elevation information in one map to build the 3D roadmap, and then search a safe path with multiple constraints. A series of experiment results show the method's validity and practicability.
引用
收藏
页码：1765 / 1776
页数：12
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