Dynamic path planning of initially unknown environments using an RGB-D camera
(2015)Department of Automatic Control
- Abstract
- In this thesis an RGB-D camera was used with the goal to perform dynamic path planning in an initially unknown environment. Depth data from an RGB-D camera together with a discretizising algorithm is continuously used for maintaining an obstacle map of the environment which within the path planning algorithm D* Lite [S. Koening, 2005] is performed on the flight.
Experiments were conducted on two different systems, on Combine’s hexacopter and on a Gantry Tau robot at the Robot Lab of the Department of Automatic Control, LTH. On Combine’s hexacopter different tracking algorithms such as ICP, Translation Approximation and SDF where evaluated for 3D positioning while the robots internal positioning where used on the Gantry Tau robot.
... (More) - In this thesis an RGB-D camera was used with the goal to perform dynamic path planning in an initially unknown environment. Depth data from an RGB-D camera together with a discretizising algorithm is continuously used for maintaining an obstacle map of the environment which within the path planning algorithm D* Lite [S. Koening, 2005] is performed on the flight.
Experiments were conducted on two different systems, on Combine’s hexacopter and on a Gantry Tau robot at the Robot Lab of the Department of Automatic Control, LTH. On Combine’s hexacopter different tracking algorithms such as ICP, Translation Approximation and SDF where evaluated for 3D positioning while the robots internal positioning where used on the Gantry Tau robot.
For discretization purposes we compare the use of Box Approximation and Signed Distance Function (SDF) for creating the obstacle map. (Less)
Please use this url to cite or link to this publication:
http://lup.lub.lu.se/student-papers/record/7442930
- author
- Gustafzelius, Sara
- supervisor
- organization
- year
- 2015
- type
- H3 - Professional qualifications (4 Years - )
- subject
- ISSN
- 0280-5316
- other publication id
- ISRN LUTFD2/TFRT--5980--SE
- language
- English
- id
- 7442930
- date added to LUP
- 2015-07-03 09:34:22
- date last changed
- 2015-07-03 09:34:22
@misc{7442930, abstract = {{In this thesis an RGB-D camera was used with the goal to perform dynamic path planning in an initially unknown environment. Depth data from an RGB-D camera together with a discretizising algorithm is continuously used for maintaining an obstacle map of the environment which within the path planning algorithm D* Lite [S. Koening, 2005] is performed on the flight. Experiments were conducted on two different systems, on Combine’s hexacopter and on a Gantry Tau robot at the Robot Lab of the Department of Automatic Control, LTH. On Combine’s hexacopter different tracking algorithms such as ICP, Translation Approximation and SDF where evaluated for 3D positioning while the robots internal positioning where used on the Gantry Tau robot. For discretization purposes we compare the use of Box Approximation and Signed Distance Function (SDF) for creating the obstacle map.}}, author = {{Gustafzelius, Sara}}, issn = {{0280-5316}}, language = {{eng}}, note = {{Student Paper}}, title = {{Dynamic path planning of initially unknown environments using an RGB-D camera}}, year = {{2015}}, }