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3D scene reconstruction and motion planning for an autonomous mobile robot in complex outdoor scenes
Zhuang Y(庄严); Wang W(王伟); Chen, Hang; Zheng, Keqiang
Department机器人学研究室
Conference Name2010 International Conference on Modelling, Identification and Control, ICMIC 2010
Conference DateJuly 17-19, 2010
Conference PlaceOkayama, Japan
Source Publication2010 International Conference on Modelling, Identification and Control, ICMIC 2010
PublisherAssociation for Computing Machinery
Publication PlaceNew York, USA
2010
Pages692-697
Indexed ByEI
EI Accession number20104213295136
Contribution Rank1
ISBN978-0-9555293-3-7
KeywordIdentification (Control Systems) Mobile Robots Motion Planning Navigation Three Dimensional
Abstract3D 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 safety path with multiple constraints. A series of experiment results show the method's validity and practicability.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/10480
Collection机器人学研究室
Affiliation1.Dalian University of Technology, Dalian, 116024, China
2.State Key Laboratory of Robotics, Shenyang, 110016, China
Recommended Citation
GB/T 7714
Zhuang Y,Wang W,Chen, Hang,et al. 3D scene reconstruction and motion planning for an autonomous mobile robot in complex outdoor scenes[C]. New York, USA:Association for Computing Machinery,2010:692-697.
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