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Electronics 2016, 5(4), 70; doi:10.3390/electronics5040070

3D Environment Mapping Using the Kinect V2 and Path Planning Based on RRT Algorithms

1
Centro de Investigación Científica y Tecnológica del Ejército CICTE, Universidad de las Fuerzas Armadas ESPE, Sangolquí 171103, Ecuador
2
Departamento de Eléctrica y Electrónica DEEE, Universidad de las Fuerzas Armadas ESPE, Sangolquí 171103, Ecuador
3
Research Group on Knowledge Engineering GREC, Universitat Politècnica de Catalunya UPC-BarcelonaTech, Barcelona 08040, Spain
*
Authors to whom correspondence should be addressed.
Academic Editor: Mostafa Bassiouni
Received: 19 August 2016 / Revised: 21 September 2016 / Accepted: 26 September 2016 / Published: 18 October 2016
View Full-Text   |   Download PDF [6172 KB, uploaded 18 October 2016]   |  

Abstract

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. View Full-Text
Keywords: path planning; RRT; RRT*; point cloud registration; 3D modeling; mobile robotics; RGB-D segmentation; computational geometry path planning; RRT; RRT*; point cloud registration; 3D modeling; mobile robotics; RGB-D segmentation; computational geometry
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Aguilar, W.G.; Morales, S.G. 3D Environment Mapping Using the Kinect V2 and Path Planning Based on RRT Algorithms. Electronics 2016, 5, 70.

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