3D environment mapping using the Kinect V2 and path planning based on RRT algorithms
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This paper describes a 3D path planning system that is able to provide a solution trajectory for the automatic control of a robot. The proposed system uses a point cloud obtained from the robot workspace, with a Kinect V2 sensor to identify the interest regions and the obstacles of the environment. Our proposal includes a collision-free path planner based on the Rapidly-exploring Random Trees variant (RRT*), for a safe and optimal navigation of robots in 3D spaces. Results on RGB-D segmentation and recognition, point cloud processing, and comparisons between different RRT* algorithms, are presented.
CitationAguilar, W. G., Morales, S. 3D environment mapping using the Kinect V2 and path planning based on RRT algorithms. "Electronics", 18 Octubre 2016, vol. 5, núm. 4, p. 1-17.