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Iberian Robotics conference

ROBOT 2017: ROBOT 2017: Third Iberian Robotics Conference pp 345–356Cite as

3D Navigation for a Mobile Robot

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Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 694))

Abstract

We propose a novel 3D navigation system for autonomous vehicle path-planning. The system processes a point-cloud data from an RGB-D camera and creates a 3D occupancy grid with adaptable cell size. Occupied grid cells contain normal distribution characterizing the data measured in the area of the cell. The normal distributions are then used for cell classification, traversability, and collision checking. The space of traversable cells is used for path-planning. The ability to work in three-dimensional space allows autonomous robots to operate in highly structured environments with multiple levels, uneven surfaces, and various elevated and underground crossings. That is important for the usage of robots in real-world scenarios such as in urban areas and for disaster rescue missions.

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Acknowledgements

We would like to thank Dr. Ohya from University of Tsukuba, Japan, for his valuable insight that helped with this work and Dr. Obdžálek for help with the robotic platform. Research is supported by the Czech Science Foundation under the contract P103-15-19877S.

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Authors and Affiliations

  1. Faculty of Mathematics and Physics, Charles University, Prague, Czech Republic

    Jan Škoda & Roman Barták

Authors
  1. Jan Škoda
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  2. Roman Barták
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Corresponding author

Correspondence to Jan Škoda .

Editor information

Editors and Affiliations

  1. Escuela Técnica Superior de Ingeniería, Universidad de Sevilla, Sevilla, Spain

    Anibal Ollero

  2. Institut de Robòtica I Informàtica Industrial (CSIC-UPC), Universitat Politècnica de Catalunya, Barcelona, Spain

    Alberto Sanfeliu

  3. Departamento de Informática e Ingeniería de Sistemas, Escuela de Ingeniería y Arquitectura, Instituto de Investigación en Ingeniería de Aragón, Zaragoza, Spain

    Luis Montano

  4. Institute of Electronics and Telematics Engineering of Aveiro (IEETA), Universidade de Aveiro, Aveiro, Portugal

    Nuno Lau

  5. IDMEC, Instituto Superior Técnico de Lisboa, Universidade de Lisboa, Lisbon, Portugal

    Carlos Cardeira

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Škoda, J., Barták, R. (2018). 3D Navigation for a Mobile Robot. In: Ollero, A., Sanfeliu, A., Montano, L., Lau, N., Cardeira, C. (eds) ROBOT 2017: Third Iberian Robotics Conference. ROBOT 2017. Advances in Intelligent Systems and Computing, vol 694. Springer, Cham. https://doi.org/10.1007/978-3-319-70836-2_29

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  • DOI: https://doi.org/10.1007/978-3-319-70836-2_29

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-70835-5

  • Online ISBN: 978-3-319-70836-2

  • eBook Packages: EngineeringEngineering (R0)

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