Online Next-Best-View Planner for 3D-Exploration and Inspection With a Mobile Manipulator Robot
| Autor: | Menaka Naazare, Francisco Garcia Rosas, Dirk Schulz |
|---|---|
| Přispěvatelé: | Publica |
| Rok vydání: | 2022 |
| Předmět: |
Environment monitoring and management
FOS: Computer and information sciences Control and Optimization Field robots Mechanical Engineering Biomedical Engineering Reactive and sensor-based planning Computer Science Applications Human-Computer Interaction Computer Science - Robotics Motion and path planning Artificial Intelligence Control and Systems Engineering Computer Vision and Pattern Recognition Robotics (cs.RO) Robotics in hazardous fields |
| Zdroj: | IEEE Robotics and Automation Letters. 7:3779-3786 |
| ISSN: | 2377-3774 |
| DOI: | 10.1109/lra.2022.3146558 |
| Popis: | Robotic systems performing end-user oriented autonomous exploration can be deployed in different scenarios which not only require mapping but also simultaneous inspection of regions of interest for the end-user. In this work, we propose a novel Next-Best-View (NBV) planner which can perform full exploration and user-oriented exploration with inspection of the regions of interest using a mobile manipulator robot. We address the exploration-inspection problem as an instance of Multi-Objective Optimization (MOO) and propose a weighted-sum-based information gain function for computing NBVs for the RGB-D camera mounted on the arm. For both types of exploration tasks, we compare our approach with an existing state-of-the-art exploration method as the baseline and demonstrate our improvements in terms of total volume mapped and lower computational requirements. The real experiments with a mobile manipulator robot demonstrate the practicability and effectiveness of our approach outdoors. |
| Databáze: | OpenAIRE |
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