Skip to main content
Erschienen in: Artificial Life and Robotics 1/2021

26.07.2020 | Original Article

Navigation of a mobile robot in a dynamic environment using a point cloud map

verfasst von: Xixun Wang, Yoshiki Mizukami, Makoto Tada, Fumitoshi Matsuno

Erschienen in: Artificial Life and Robotics | Ausgabe 1/2021

Einloggen

Aktivieren Sie unsere intelligente Suche um passende Fachinhalte oder Patente zu finden.

search-config
loading …

Abstract

In this paper, we consider autonomous navigation of a wheeled mobile robot in a dynamic environment using a 3D point cloud map. We consider four kinds of 2D maps: static global map, dynamic global map, global cost map, and local cost map; to plan a feasible path of the robot to adapt to a dynamic environment. We consider a mobile robot for plant patrolling in a 3D environment with plane slopes but not rough terrain for which a 2D environment map suffices. We propose 2D static global map for robot navigation by projecting prior measured 3D point cloud map data on a horizontal plane with considering the climbing ability of the robot. We also build a 2D dynamic global map by projecting a real-time 3D point cloud on the 2D static global map by SLAM. Accumulated errors of SLAM can be canceled using some landmarks placed in the environment. A global planner calculates an optimal global path that minimizes the distance from an initial robot pose (position and orientation) to a goal pose (position and orientation) by A* algorithm based on the global cost map which is built from the dynamic global map. However, this process should take much time. To avoid moving obstacles, the TEB (Timed Elastic Band) local planner is used to calculate an optimal local path based on a local cost map which is given by a real-time local 3D point cloud. To demonstrate the effectiveness of the proposed system, experiments were carried out. In the experiment, we use an AR card as a landmark for simplification of implementation. We prove that the robot can navigate in a dynamic environment and accumulated errors can be canceled by the AR cards placed in the environment as landmarks.

Sie haben noch keine Lizenz? Dann Informieren Sie sich jetzt über unsere Produkte:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 102.000 Bücher
  • über 537 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 390 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Maschinenbau + Werkstoffe




 

Jetzt Wissensvorsprung sichern!

Fußnoten
1
The method [19] can be also applicable to project the points into a local ground. It can segment multiple planes. However, it requires a higher density 3D point cloud and takes much time for processing. In this phase, we consider a local area and can assume that there is only one ground plane around the robot roughly. We can apply faster algorithm to segment one plane such as [20, 21].
 
Literatur
1.
Zurück zum Zitat Eitan M, Eric B, Tully F, Brian G, Kurt K (2010) The office marathon: robust navigation in an indoor office environment. In: Proceedings in IEEE international conference on robotics and automation, pp 300–307 Eitan M, Eric B, Tully F, Brian G, Kurt K (2010) The office marathon: robust navigation in an indoor office environment. In: Proceedings in IEEE international conference on robotics and automation, pp 300–307
2.
Zurück zum Zitat Ellips M, Golnaz H (2007) Robot path planning in 3D space using binary integer programming. J Comput Inf Eng 1(5):1255–1260 Ellips M, Golnaz H (2007) Robot path planning in 3D space using binary integer programming. J Comput Inf Eng 1(5):1255–1260
3.
Zurück zum Zitat Andrew J. D, Nobuyuki K, (2001) 3D simultaneous localisation and map-building using active vision for a robot moving on undulating terrain. In: Proceedings of IEEE international conference on computer vision and pattern recognition, pp 394–391 Andrew J. D, Nobuyuki K, (2001) 3D simultaneous localisation and map-building using active vision for a robot moving on undulating terrain. In: Proceedings of IEEE international conference on computer vision and pattern recognition, pp 394–391
4.
Zurück zum Zitat Konstantinos C, Ioannis K, Antonios G (2015) Thorough robot navigation based on SVM local planning. J Robot Auton Syst 70(1):166–180 Konstantinos C, Ioannis K, Antonios G (2015) Thorough robot navigation based on SVM local planning. J Robot Auton Syst 70(1):166–180
5.
Zurück zum Zitat David W, Matthew M, Kevin B, Andrew H, Alfred AR, Marc R (2010) Autonomous navigation for BigDog. In: Proceedings of IEEE international conference on robotics and automation, pp 4736–4741 David W, Matthew M, Kevin B, Andrew H, Alfred AR, Marc R (2010) Autonomous navigation for BigDog. In: Proceedings of IEEE international conference on robotics and automation, pp 4736–4741
6.
Zurück zum Zitat Malcolm M, Martin M, Henrik A, Achim JL (2017) SLAM auto-complete: completing a robot map using an emergency map. In: Proceedings of IEEE international symposium on safety, security and rescue robotics, pp 35–40 Malcolm M, Martin M, Henrik A, Achim JL (2017) SLAM auto-complete: completing a robot map using an emergency map. In: Proceedings of IEEE international symposium on safety, security and rescue robotics, pp 35–40
7.
Zurück zum Zitat John M, Michael K, Cesar C, Jose N, John JL (2013) Real-time 6-DOF multi-session visual SLAM over large-scale environments. J Robot Auton Syst 61(10):1144–1158CrossRef John M, Michael K, Cesar C, Jose N, John JL (2013) Real-time 6-DOF multi-session visual SLAM over large-scale environments. J Robot Auton Syst 61(10):1144–1158CrossRef
8.
Zurück zum Zitat Aisha W.B, Michael K, Hordur J, John J.L (2012) Dynamic pose graph SLAM: long-term mapping in low dynamic environments. In: Proceedings of IEEE/RSJ international conference on intelligent robots and systems, pp 1871–1877 Aisha W.B, Michael K, Hordur J, John J.L (2012) Dynamic pose graph SLAM: long-term mapping in low dynamic environments. In: Proceedings of IEEE/RSJ international conference on intelligent robots and systems, pp 1871–1877
9.
Zurück zum Zitat Pablo M, Ahmed H, David M, de la Arturo E (2018) Global and local path planning study in a ROS-based research platform for autonomous vehicles. J Adv Transp 2018:1–10 Pablo M, Ahmed H, David M, de la Arturo E (2018) Global and local path planning study in a ROS-based research platform for autonomous vehicles. J Adv Transp 2018:1–10
10.
Zurück zum Zitat Michael M, Sebastian T, Daphne K, Ben W (2003) FastSLAM 2.0: an improved particle filtering algorithm for simultaneous localization and mapping that provably converges. In: Proceedings of the international conference on artificial intelligence, pp 1151–1156 Michael M, Sebastian T, Daphne K, Ben W (2003) FastSLAM 2.0: an improved particle filtering algorithm for simultaneous localization and mapping that provably converges. In: Proceedings of the international conference on artificial intelligence, pp 1151–1156
11.
Zurück zum Zitat Morgan Q, Brian G, Ken C, Josh F, Tully F, Jeremy L, Eric B, Rob W, Ng A (2009) ROS: an open-source robot operating system. In: Proceedings of IEEE international conference on robotics and automation, open-source software workshop Morgan Q, Brian G, Ken C, Josh F, Tully F, Jeremy L, Eric B, Rob W, Ng A (2009) ROS: an open-source robot operating system. In: Proceedings of IEEE international conference on robotics and automation, open-source software workshop
12.
Zurück zum Zitat Giorgio G, Cyrill S, Wolfram B (2005) Improving grid-based slam with Rao-Blackwellized particle filters by adaptive proposals and selective resampling. In: Proceedings of IEEE international conference on robotics and automation, pp 2443–2448 Giorgio G, Cyrill S, Wolfram B (2005) Improving grid-based slam with Rao-Blackwellized particle filters by adaptive proposals and selective resampling. In: Proceedings of IEEE international conference on robotics and automation, pp 2443–2448
13.
Zurück zum Zitat Arnaud D, Nando de F, Kevin M, Stuart R (2000) Rao-Blackwellized partcile filtering for dynamic bayesian networks. In: Proceedongs of conference on uncertainty in artificial intelligence, pp 176–183 Arnaud D, Nando de F, Kevin M, Stuart R (2000) Rao-Blackwellized partcile filtering for dynamic bayesian networks. In: Proceedongs of conference on uncertainty in artificial intelligence, pp 176–183
14.
Zurück zum Zitat Kurt K (2000) A gradient method for realtime robot control. In: Proceedings of IEEE/RSJ international conference on intelligent robots and systems, pp 639–646 Kurt K (2000) A gradient method for realtime robot control. In: Proceedings of IEEE/RSJ international conference on intelligent robots and systems, pp 639–646
15.
Zurück zum Zitat Rösmann C, Hoffmann F, Bertram T (2015) Planning of multiple robot trajectories in distinctive topologies. In: Proceedings of IEEE European conference on mobile robots, pp 1–6 Rösmann C, Hoffmann F, Bertram T (2015) Planning of multiple robot trajectories in distinctive topologies. In: Proceedings of IEEE European conference on mobile robots, pp 1–6
16.
Zurück zum Zitat Watanabe M, Onoguchi E, Kweon I, Kuno Y (1992) Architecture of behavior-based mobile robot in dynamic environment. In: Proceedings of IEEE international conference on robotics and automation, pp 2711–2718 Watanabe M, Onoguchi E, Kweon I, Kuno Y (1992) Architecture of behavior-based mobile robot in dynamic environment. In: Proceedings of IEEE international conference on robotics and automation, pp 2711–2718
17.
Zurück zum Zitat Zhu A, Yang SX (2007) Neurofuzzy-based approach to mobile robot navigation in unknown environments. IEEE Trans Syst 37(4):610–621 Zhu A, Yang SX (2007) Neurofuzzy-based approach to mobile robot navigation in unknown environments. IEEE Trans Syst 37(4):610–621
18.
Zurück zum Zitat Engedy I, Horvath G (2010) Artificial neural network based local motion planning of a wheeled mobile robot. In: Proceedings of IEEE international conference on computational intelligence and informatics, pp 213–218 Engedy I, Horvath G (2010) Artificial neural network based local motion planning of a wheeled mobile robot. In: Proceedings of IEEE international conference on computational intelligence and informatics, pp 213–218
19.
Zurück zum Zitat Abdul N, David B, Geoff W (2016) Robust segmentation for large volumes of laser scanning three-dimensional point cloud data. IEEE Trans Geosci Remote Sens 54(8):4790–4805CrossRef Abdul N, David B, Geoff W (2016) Robust segmentation for large volumes of laser scanning three-dimensional point cloud data. IEEE Trans Geosci Remote Sens 54(8):4790–4805CrossRef
20.
Zurück zum Zitat Dimitris Z, Izzat I, Nikolaos P (2017) Fast segmentation of 3D point clouds: a paradigm on LiDAR data for autonomous vehicle applications. In: Proceedings of IEEE international conference on robotics and automation, pp 5067–5073 Dimitris Z, Izzat I, Nikolaos P (2017) Fast segmentation of 3D point clouds: a paradigm on LiDAR data for autonomous vehicle applications. In: Proceedings of IEEE international conference on robotics and automation, pp 5067–5073
21.
Zurück zum Zitat Ahmed H, Pablo M, David M, Arturo E, Jose M (2016) Autonomous off-road navigation using stereo-vision and laser-rangefinder fusion for outdoor obstacles detection. In: Proceedings of IEEE international conference on intelligent vehicles symposium, pp 104–109 Ahmed H, Pablo M, David M, Arturo E, Jose M (2016) Autonomous off-road navigation using stereo-vision and laser-rangefinder fusion for outdoor obstacles detection. In: Proceedings of IEEE international conference on intelligent vehicles symposium, pp 104–109
Metadaten
Titel
Navigation of a mobile robot in a dynamic environment using a point cloud map
verfasst von
Xixun Wang
Yoshiki Mizukami
Makoto Tada
Fumitoshi Matsuno
Publikationsdatum
26.07.2020
Verlag
Springer Japan
Erschienen in
Artificial Life and Robotics / Ausgabe 1/2021
Print ISSN: 1433-5298
Elektronische ISSN: 1614-7456
DOI
https://doi.org/10.1007/s10015-020-00617-3

Weitere Artikel der Ausgabe 1/2021

Artificial Life and Robotics 1/2021 Zur Ausgabe

Neuer Inhalt