3D scene reconstruction and motion planning for an autonomous mobile robot in complex outdoor scenes
文献类型：会议论文
| 作者 | Zhuang Y(庄严); Wang W(王伟) ; Chen, Hang; Zheng, Keqiang
|
| 出版日期 | 2010 |
| 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 |
| 关键词 | Identification (control systems) Mobile robots Motion planning Navigation Three dimensional |
| 页码 | 692-697 |
| 中文摘要 | 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. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 会议录 | 2010 International Conference on Modelling, Identification and Control, ICMIC 2010
 |
| 会议录出版者 | Association for Computing Machinery |
| 会议录出版地 | New York, USA |
| 语种 | 英语 |
| ISBN号 | 978-0-9555293-3-7 |
| 源URL | [http://ir.sia.cn/handle/173321/10480]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 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]. 见:2010 International Conference on Modelling, Identification and Control, ICMIC 2010. Okayama, Japan. July 17-19, 2010. |
入库方式： OAI收割
来源：沈阳自动化研究所
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