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Indexed by:期刊论文

Date of Publication:2011-04-01

Journal:INTERNATIONAL JOURNAL OF INNOVATIVE COMPUTING INFORMATION AND CONTROL

Included Journals:Scopus、SCIE、EI

Volume:7

Issue:4

Page Number:1765-1776

ISSN No.:1349-4198

Key Words:3D scene reconstruction; Motion planning; 3D laser scanning; Mobile robot

Abstract: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 safe path with multiple constraints. A series of experiment results show the method's validity and practicability.