Indoor 3D Path Planning Using a Kinect V2 Sensor

摘要：

　　This paper proposes an indoor three-dimensional path planning system for the automatic control of robots using a Kinect V2 sensor.In the method,a RGBD SLAM system using Kinect V2 sensor is introduced to identify the environment and obtain the indoor three-dimensional map.At the same time,the rapidly exploring random tree(RRT)is used for a safe and optimal navigation of robot in three-dimensional space.We also propose one variation of the RRT to addresses the optimization problem of traditional RRT.In the end,the experiments are conducted with robot operating system(ROS),and a 3D map that can be directly used for navigation of robots is created.The traditional RRT path planning method and the improved RRT method are also presented based on the 3D map.

关键词： path planning Kinect V2 RRT path planning navigation

作者: Wen Nie QunMing Li Guoliang Zhong Hua Deng

作者单位: School of Mechanical and Electrical Engineering State Key Laboratory of High-Performance Complex Manufacturing Central South University Changsha,China,410000

会议类型: 国际会议

会议名称: 2017 IEEE 3rd Information Technology and Mechatronics Engineering Conference(ITOEC2017)(2017 IEEE 第3届信息技术与机电一体化工程国际学术会议)

会议地点: 重庆

会议语种:英文

页码: 527-531

在线出版日期: 2017-10-03（万方平台首次上网日期，不代表论文的发表时间）