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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
作者部门机器人学研究室
会议名称2010 International Conference on Modelling, Identification and Control, ICMIC 2010
会议日期July 17-19, 2010
会议地点Okayama, Japan
会议录名称2010 International Conference on Modelling, Identification and Control, ICMIC 2010
出版者Association for Computing Machinery
出版地New York, USA
2010
页码692-697
收录类别EI
EI收录号20104213295136
产权排序1
ISBN号978-0-9555293-3-7
关键词Identification (Control Systems) Mobile Robots Motion Planning Navigation Three Dimensional
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 safety path with multiple constraints. A series of experiment results show the method's validity and practicability.
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/10480
专题机器人学研究室
作者单位1.Dalian University of Technology, Dalian, 116024, China
2.State Key Laboratory of Robotics, Shenyang, 110016, China
推荐引用方式
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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