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Open AccessArticle

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
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Departamento de Eléctrica y Electrónica DEEE, Universidad de las Fuerzas Armadas ESPE, Sangolquí 171103, Ecuador
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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
Electronics 2016, 5(4), 70; https://doi.org/10.3390/electronics5040070
Received: 19 August 2016 / Revised: 21 September 2016 / Accepted: 26 September 2016 / Published: 18 October 2016
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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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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