Development of an autonomous navigation system for a mobile robot based on an RGB-D camera
This paper presents the development of an autonomous navigation system for a mobile robot based on an RGB-D camera, which allows it to navigate in a structured but unknown environment, formed by corridors and the rooms that have their entrances accessible from said corridors. hallways. Among the dif...
| Autores: | , , |
|---|---|
| Tipo de recurso: | artículo |
| Estado: | Versión publicada |
| Fecha de publicación: | 2022 |
| País: | México |
| Institución: | UNIVERSIDAD AUTÓNOMA DEL ESTADO DE HIDALGO |
| Repositorio: | PÄDI Boletín Científico de Ciencias Básicas e Ingeniería del ICBI |
| Idioma: | español |
| OAI Identifier: | oai:repository.uaeh.edu.mx:article/10142 |
| Acceso en línea: | https://repository.uaeh.edu.mx/revistas/index.php/icbi/article/view/10142 |
| Access Level: | acceso abierto |
| Palabra clave: | Mobile robot Autonomous navigation Visual control RGB-D camera Depth images Robot móvil Navegación autónoma Control visual Cámara RGB-D Imágenes de profundidad |
| Sumario: | This paper presents the development of an autonomous navigation system for a mobile robot based on an RGB-D camera, which allows it to navigate in a structured but unknown environment, formed by corridors and the rooms that have their entrances accessible from said corridors. hallways. Among the different applications that a mobile robot with this navigation system could have are: mapping, indoor disinfection (SARS-CoV-2) with ultraviolet light, autonomous inspection of these enclosures and many others that require autonomous visits. rooms that are accessed from a corridor or set of interconnected corridors. Said system was implemented both in simulation and in real time, obtaining for both cases the expected results when navigating through an enclosure. |
|---|