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个人信息Personal Information
教授
博士生导师
硕士生导师
主要任职：Vice Dean of School of Control Science and Engineering
性别：男
毕业院校：大连理工大学
学位：博士
所在单位：控制科学与工程学院
学科：模式识别与智能系统. 控制理论与控制工程. 导航、制导与控制. 人工智能
办公地点：大连理工大学 创新园大厦 A611室
联系方式：办公电话：0411-84707581
电子邮箱：zhuang@dlut.edu.cn
3D SCENE RECONSTRUCTION AND MOTION PLANNING FOR AN AUTONOMOUS MOBILE ROBOT IN COMPLEX OUTDOOR SCENES
点击次数：
论文类型：期刊论文
发表时间：2011-04-01
发表刊物：INTERNATIONAL JOURNAL OF INNOVATIVE COMPUTING INFORMATION AND CONTROL
收录刊物：Scopus、SCIE、EI
卷号：7
期号：4
页面范围：1765-1776
ISSN号：1349-4198
关键字：3D scene reconstruction; Motion planning; 3D laser scanning; Mobile robot
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 safe path with multiple constraints. A series of experiment results show the method's validity and practicability.