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3D environment mapping using the Kinect V2 and path planning based on RRT algorithms

Author
Aguilar, W. G.; Morales, S.
Type of activity
Journal article
Journal
Electronics
Date of publication
2016-10-18
Volume
5
Number
4
First page
1
Last page
17
DOI
https://doi.org/10.3390/electronics5040070 Open in new window
Repository
http://hdl.handle.net/2117/103909 Open in new window
URL
http://www.mdpi.com/2079-9292/5/4/70 Open in new window
Abstract
This paper describes a 3D path planning system that is able to provide a solution trajectory for the automatic control of a robot. The proposed system uses a point cloud obtained from the robot workspace, with a Kinect V2 sensor to identify the interest regions and the obstacles of the environment. Our proposal includes a collision-free path planner based on the Rapidly-exploring Random Trees variant (RRT*), for a safe and optimal navigation of robots in 3D spaces. Results on RGB-D segmentation ...
Citation
Aguilar, W. G., Morales, S. 3D environment mapping using the Kinect V2 and path planning based on RRT algorithms. "Electronics", 18 Octubre 2016, vol. 5, núm. 4, p. 1-17.
Keywords
3D modeling, RGB-D segmentation, RRT, RRT*, computational geometry, mobile robotics, path planning, point cloud registration
Group of research
GREC - Knowledge Engineering Research Group

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