3D camera and lidar utilization for mobile robot navigation

• Autorzy: Stefańczyk M. , Banachowicz K. , Walęcki M. , Winiarski T.
• Konferencja: National Conference on Robotics (12, 12-16.2012, Świeradów-Zdrój, Poland)
• Języki publikacji: EN

Abstrakty

EN

The article presents a navigation system based on 3D camera and laser scanner capable of detecting a wide range of obstacles in indoor environment. First, existing methods of 3D scene data acquisition are presented. Then the new navigation system gathering data from various sensors (e.g. 3D cameras and laser scanners) is described in a formal way, as well as exemplary applications that verify the approach.

Słowa kluczowe

EN

mobile robotics; navigation; RGB-D sensing

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2013
• Tom: Vol. 7, No. 4
• Strony: 27--33
• Opis fizyczny: Bibliogr. 22 poz., rys.

Twórcy

autor

Stefańczyk M.

• Institute of Control and Computation Engineering, Warsaw University of Technology, 00–665 Warszawa, ul. Nowowiejska 15/19

autor

Banachowicz K.

• Bionik Robotics Scientific Club, Warsaw University of Technology, 00–665 Warsaw, Nowowiejska 15/19, www: http://bionik.ia.pw.edu.pl

autor

Walęcki M.

• Institute of Control and Computation Engineering, Warsaw University of Technology, 00–665 Warsaw, Nowowiejska 15/19

autor

Winiarski T.

• Institute of Control and Computation Engineering, Warsaw University of Technology, 00–665 Warsaw, Nowowiejska 15/19

Bibliografia

• [1] R. Alami, R. Chatila, S. Fleury, M. M. Ghallab, and F. Ingrand, “An architecture for autonomy”, Int. J. of Robotics Research, vol. 17, no. 4, 1998, pp. 315–337.
• [2] R. A. Brooks, “A robust layered control system for a mobile robot”, IEEE Journal of Robotics and Automation, vol. 2, no. 1, 1986, pp. 14–23.
• [3] A. Diosi and L. Kleeman, “Laser Scan Matching in Polar Coordinates with Application to SLAM”. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005.
• [4] A. A. Fahmy, “Implementation of the chaotic mobile robot for the complex missions”, Journal of Automation Mobile Robotics and Intelligent Systems, vol. 6, no. 2, 2012, pp. 8–12.
• [5] D. Jung and K. Gupta, “Octree-based hierarchical distance maps for collision detection”. In: International Conference on Robotics and Automation (ICRA), vol. 1, 1996, pp. 454–459.
• [6] T. Kornuta and C. Zieliński, “Behavior-based control system of a robot actively recognizing hand postures”. In: 15th IEEE International Conference on Advanced Robotics, ICAR, 2011, pp. 265–270.
• [7] B. Kreczmer, “Mobile robot navigation in the presence of moving obstacles (in polish)”, Advances in Robotics. Robot controll with surrounding perception., 2005, pp. 177–186.
• [8] E. Marder-Eppstein, E. Berger, T. Foote, B. Gerkey, and K. Konolige, “The ofϐice marathon: Robust navigation in an indoor ofϐice environment”. In: International Conference on Robotics and Automation (ICRA), 2010, pp. 300–307.
• [9] M. Quigley, K. Conley, B. Gerkey, J. Faust, T. Foote, J. Leibs, R. Wheeler, and A. Y. Ng, “Ros: an opensource robot operating system”. In: ICRA workshop on open source software, vol. 3, no. 3.2, 2009.
• [10] P. Skrzypczynski, “2D and 3D world modeling using optical scanner data”, Intelligent robots: sensing, modeling, and planning, vol. 27, 1997, p. 211.
• [11] M. Stefańczyk and W. Kasprzak, “Multimodal segmentation of dense depth maps and associated color information”. In: Proceedings of the International Conference on Computer Vision and Graphics, vol. 7594, 2012, pp. 626–632.
• [12] W. Szynkiewicz, R. Chojecki, A. Rydzewski, M. Majchrowski, and P. Trojanek. “Modular mobile robot – Elektron (in Polish)”. In: K. Tchoń, ed., Advances in Robotics: Control, Perception and Communication, pp. 265–274. Transport and Communication Publishers, Warsaw, 2006.
• [13] S. Thongchai, S. Suksakulchai, D. Wilkes, and N. Sarkar, “Sonar behavior-based fuzzy control for a mobile robot”. In: Systems, Man, and Cybernetics, 2000 IEEE International Conference on, vol. 5, 2000, pp. 3532–3537.
• [14] S. Thrun, W. Burgard, and D. Fox, “A real-time algorithm, for mobile robot mapping with applications
• to multi-robot and 3d mapping”. In: Internationa Conference on Robotics and Automation (ICRA), vol. 1, 2000, pp. 321–328.
• [15] S. Thrun, W. Burgard, and D. Fox, Probabilistic Robotics, The MIT Press, 2005.
• [16] S. Thrun, D. Fox, W. Burgard, and F. Dellaert, “Robust monte carlo localization for mobile robots”, Artiϔicial intelligence, vol. 128, no. 1, 2001, pp. 99–141.
• [17] H. Van Brussel, R. Moreas, A. Zaatri, and M. Nuttin, “A behaviour-based blackboard architecture for mobile robots”. In: Industrial Electronics Society, 1998. IECON’98. Proceedings of the 24th Annual Conference of the IEEE, vol. 4, 1998, pp. 2162–2167.[
• [18]M. Walęcki, K. Banachowicz, and T. Winiarski,  “Research oriented motor controllers for robotic applications”. In: K. Kozłowski, ed., Robot Motion and Control 2011 (LNCiS) Lecture Notes in Control & Information Sciences, vol. 422, 2012, pp. 193–203.[19] C. Zieliński and T. Winiarski, “Motion generation
• [19] C. Zieliński and T. Winiarski, “Motion generation in the MRROC++ robot programming framework”,International Journal of Robotics Research, vol. 29, no. 4, 2010, pp. 386–413.
• [20] C. Zieliński, T. Kornuta, and M. Boryń, “Speciϐication of robotic systems on an example of visual servoing”. In: 10th International IFAC Symposium on Robot Control (SYROCO 2012), vol. 10, no. 1, 2012, pp. 45–50.
• [21] C. Zieliński, T. Kornuta, P. Trojanek, and T. Winiarski, “Method of Designing AutonomousMobile Robot Control Systems. Part 1: Theoretical Introduction (in Polish)”, Pomiary Automatyka Robotyka, no. 9, 2011, pp. 84–87.
• [22] C. Zieliński, T. Kornuta, P. Trojanek, and T. Winiarski, “Method of Designing Autonomous Mobile Robot Control Systems. Part 2: An Example (in Polish)”, Pomiary Automatyka Robotyka, no. 10, 2011, pp. 84–91.