3d environment mapping using the kinect v2 and path planning based on rrt algorithms
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2016
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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 and recognition, point cloud processing, and comparisons between different RRT* algorithms, are presented.
| Reference Key |
aguilar2016electronics3d
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| Authors | ;Wilbert G. Aguilar;Stephanie G. Morales |
| Journal | biology bulletin of the academy of sciences of the ussr |
| Year | 2016 |
| DOI |
10.3390/electronics5040070
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