Depth Camera based Autonomous Mobile Robot for Indoor Environments
| Autor: | Anup Rao U, A. Krishnan, Sudarshan Patilkulkarni, Sowrabh Nayak |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
010504 meteorology & atmospheric sciences Computer science business.industry Real-time computing Monte Carlo localization Robotics Mobile robot 02 engineering and technology Autonomous robot Motion control 01 natural sciences 020901 industrial engineering & automation Odometry Robot Motion planning Artificial intelligence business 0105 earth and related environmental sciences |
| Zdroj: | 2018 4th International Conference for Convergence in Technology (I2CT). |
| DOI: | 10.1109/i2ct42659.2018.9058246 |
| Popis: | As a consequence of the recent developments in the fields of Artificial Intelligence, Computer Vision and advancements in the processing capabilities of embedded processors, robots are gaining widespread acceptance for applications in indoor environments. The basic requirements of a robot that is meant for interior applications include the ability to localize itself in the environment and navigate through it. While localization using specific markers has its advantages, a more generic solution would involve the use of a 2D map and adequate algorithms to navigate the area using this map. This paper proposes a design for an autonomous robot that can achieve the basic requirements of navigation in a static environment using low-cost 3D cameras like Kinect. The designed robot uses particle filters to localize in a 2D map. Once localized, it uses A* algorithm for global path planning. Once a path is available, feedback from odometry is used by a PID controller to achieve motion control. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|