Planning Robot Motion for 3D Digitalization of Indoor Environments
نویسندگان
چکیده
3D digitalization of environments without occlusions requires multiple 3D scans. Autonomous mobile robots equipped with a 3D laser scanner are well suited for the gaging task. They need an efficient exploration scheme for the digitalization. We present a new approach for planning the next scan pose as well as the robot motion. Our approach calculates a collision free trajectory regarding complicated objects, e.g., with jutting out edges. A closed loop and globally stable motor controller navigates the mobile robot. The results of a 3D digitalization experiment in the main hall of castle Birlinghoven is presented.
منابع مشابه
An autonomous mobile robot with a 3D laser range finder for 3D exploration and digitalization of indoor environments
Digital 3D models of the environment are needed in rescue and inspection robotics, facility managements and architecture. This paper presents an automatic system for gaging and digitalization of 3D indoor environments. It consists of an autonomous mobile robot, a reliable 3D laser range finder and three elaborated software modules. The first module, a fast variant of the Iterative Closest Point...
متن کاملA Low Friction Demanding Approach in Gait Planning for Humanoid Robots During 3D Manoeuvres
This paper proposes a gait planning approach to reduce the required friction for a biped robot walking on various surfaces. To this end, a humanoid robot with 18 DOF is considered to develop a dynamics model for studying various 3D manoeuvres. Then, feasible trajectories are developed to alleviate the fluctuations on the upper body to resemble human-like walking. In order to generate feasible w...
متن کاملLeaving Flatland: Efficient real-time three-dimensional perception and motion planning
In this article we present the complete details of the architecture and implementation of Leaving Flatland, an exploratory project that attempts to surmount the challenges of closing the loop between autonomous perception and action on challenging terrain. The proposed system includes comprehensive localization, mapping, path planning, and visualization techniques for a mobile robot to operate ...
متن کاملA Distributed and Optimal Motion Planning Approach for Multiple Mobile Robots
|We propose a distributed and optimal motion planning algorithm for multiple robots. The computationally expensive problem is decomposed into two modules { path planning and velocity planning. The D search method is applied in both modules, based on either geometric formulation or schedule formulation. Optimization is achieved at the individual robot level by de ning cost functions to minimize,...
متن کاملPlanning Robot Motion in a 2-D Region with Unknown Obstacles
The purpose of this paper is to present several algorithms for planning the motion of a robot in a two-dimensional region having obstacles whose shapes and locations are unknown. The convergence and efficiency of the algorithms are discussed and upper bounds for the lengths of paths generated by the different algorithms are derived and compared.
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2002