3D Scene Reconstruction and Motion Planning for an AutonomousMobile Robot in Complex Outdoor Scenes

摘要

3D environment modeling and motion planningare 'two essential tasks for an autonomous mobile robot'soutdoor navigation. In order to implement mobile robotlarge-scale motion planning, an edge-feature-based ICPalgorithm is presented to complete 3D scene registration andreconstruction. According to the respective advantages ofgeometric features and terrain features, a novel motionplanning approach is proposed based on the reconstructed scene.This method integrates the planar features and elevationinformation in one map to build the 3D roadmap, and thensearch a safety path with multiple constraints. A series ofexperiment results show the method's validity andpracticability.