Kinect and Optimization Algorithm Based Mobile Robot Path Planning in Dynamic Environment
TL;DR: The Kinect sensor, the latest vision sensing technology, is used to perceive the obstacles and terrain information in dynamic environment in real-time, which enables robots to realize effective path planning tasks in complex dynamic environment.
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Abstract: Based on environmental awareness and effective path planning algorithm, effective robot path planning can be achieved. In this paper, the Kinect sensor, the latest vision sensing technology, is used to perceive the obstacles and terrain information in dynamic environment in real-time, which enables robots to realize effective path planning tasks in complex dynamic environment. Using the real-ime RGB image and 3D image produced by the Kinect sensor, the mobile robot peripheral environment information can be probed. The improved artificial potential field path planning algorithm is optimized by genetic trust method. As a result, it can solve the local minimum points and target unreachable problems in the traditional artificial potential field algorithm. Moreover, it can effectively improve the real-time performance of the algorithm, and eventually realize the optimization of real-time path planning tasks for a robot in dynamic environment. Finally, the experimental system is set up to verify the effectiveness of the proposed methods.
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Citations
Research on the Fuzzy Algorithm of Path Planning of Mobile Robot
Zhou Guangbing,Nan Wang,Xingjjian Lu,Ma Jingqi +3 more
- 01 Dec 2017
TL;DR: A fuzzy control algorithm is designed that uses sensors to obtain obstacle information and target information, and control the speed of the left and right drive wheels of the mobile robot by fuzzy controller, so that the robot can go straight or turn intelligently.
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Real-time path planning based on wireless sensor network for mobile robots under unknown environment
TL;DR: An on-line real-time path planning algorithm for mobile nodes under unknown dynamic environment was proposed through three level planning control strategy to demonstrate the enhanced efficiency and accuracy of the proposed algorithm.
1
References
3D with Kinect
Jan Smisek,Michal Jancosek,Tomas Pajdla +2 more
- 01 Nov 2011
TL;DR: The functionality of Kinect calibration is demonstrated by integrating it into an SfM pipeline where 3D measurements from a moving Kinect are transformed into a common coordinate system by computing relative poses from matches in color camera.
3D with Kinect.
Jan Smisek,Michal Jancosek,Tomas Pajdla +2 more
- 01 Jan 2013
TL;DR: The functionality of Kinect calibration is demonstrated by integrating it into an SfM pipeline where 3D measurements from a moving Kinect are transformed into a common coordinate system by computing relative poses from matches in color camera.
242
Obstacle avoidance for mobile robots using artificial potential field approach with simulated annealing
Min Gyu Park,Jae Hyun Jeon,Min Cheol Lee +2 more
- 12 Jun 2001
TL;DR: In this article, the authors present and apply the mobile robot path planning technique which integrates the artificial potential field approach with simulated annealing to mobile robots to avoid local minima.
212
Mobile robot navigation and target tracking system
Patrick Benavidez,Mo Jamshidi +1 more
- 27 Jun 2011
TL;DR: This paper presents the framework for the navigation and target tracking system for a mobile robot using a Microsoft Xbox Kinect sensor which provides RGB color and 3D depth imaging data to an x86 based computer onboard the robot running Ubuntu Linux.
135
•Journal Article
Survey on technology of mobile robot path planning
TL;DR: The technology of intelligent mobile robot path planning is one of the most important robot research areas and the methods are classified into four classes: template based, artificial potential field based, map building based and artificial intelligent based approaches.
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