3D laser point cloud-based navigation in complex environment

Author

Yang Yi ; Fu Mengyin ; Wang Wei ; Yang Xin ; Zhu Hao

Author_Institution

Sch. of Autom., Beijing Inst. of Technol., Beijing, China

fYear

2010

fDate

29-31 July 2010

Firstpage

3798

Lastpage

3803

Abstract

This paper presents a 3D laser point cloud-based navigation method for mobile robot in complex environment. On the basis of laser data coordinate transformation from sphere to cylinder, environment perception cylinder is configured. In the cylinder, terrain traversability in complex environment is analyzed with radial slope and tangential slope of point cloud. Furthermore, navigation circle is built up and navigation direction is obtained. Experimental results confirm that the method can make robot moving safely and correctly in complex environment.

Keywords

laser beam applications; mobile robots; navigation; path planning; road vehicles; shapes (structures); solid modelling; 3D laser point cloud based navigation method; complex environment; environment perception cylinder; laser data coordinate transformation; mobile robot; navigation circle; navigation direction; radial slope; tangential slope; terrain traversability; Automation; Electronic mail; Laser theory; Mobile robots; Navigation; Three dimensional displays; 3D Point Cloud; Navigation Circle; Perception Cylinder; Radial/Tangential Slope;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2010 29th Chinese

Conference_Location

Beijing

Print_ISBN

978-1-4244-6263-6

Type

conf

Filename

5573382