Autonomous navigation for a holonomic drive robot in an unknown environment using a depth camera

Jesús Alemán; Héctor Monjardín; Ulises Orozco-Rosas; Kenia Picos

doi:10.1117/12.2568163

21 August 2020 Autonomous navigation for a holonomic drive robot in an unknown environment using a depth camera

Jesús Alemán, Héctor Monjardín, Ulises Orozco-Rosas, Kenia Picos

Proceedings Volume 11509, Optics and Photonics for Information Processing XIV; 1150903 (2020) https://doi.org/10.1117/12.2568163
Event: SPIE Optical Engineering + Applications, 2020, Online Only

Abstract

The present paper explores the implementation of the RRT* path planning algorithm aided with a depth sensor in a physical robot for path planning and re-planning in a partially-known or unknown environment, the robot is capable of omnidirectional motion and aims to move from a starting location to a goal location in different environments. The proposed algorithm allows the robot to move through a map while avoiding collision by detecting unknown obstacles and updating the map for further planning and motion if required. The implementation and experimental results are presented for indoor environments with partial or non-knowledge of the environment in order to achieve autonomous navigation for a holonomic drive robot in an unknown environment using a depth camera as an optical sensing device.

Conference Presentation

Citation Download Citation

Jesús Alemán, Héctor Monjardín, Ulises Orozco-Rosas, and Kenia Picos "Autonomous navigation for a holonomic drive robot in an unknown environment using a depth camera", Proc. SPIE 11509, Optics and Photonics for Information Processing XIV, 1150903 (21 August 2020); https://doi.org/10.1117/12.2568163

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