Navigation using range images on a mobile robot

Abstract

We describe an integrated navigation system for an autonomous mobile robot using a laser range camera to obtain knowledge about the environment. The implemented system maintains a 2D world model (floor map) by integrating knowledge obtained from several range images acquired as the robot moves around in its attempt to find a path to the goal position. A path planner uses the floor map to generate collision-free paths consisting of sequences of configurations. Car-like kinematic constraints ensure smooth paths that can be send directly to a wheel controller. The system was implemented on the HERMIES-III robot, a vehicle with 3 degrees of freedom, and tested in both laboratory and simulated environments. These tests showed that a simple integration of the environment modeler and the path planner provides the robot with basic explorative and navigational capabilities. In particular, the system is capable of performing total re-planning in cases where the initial path to the goal point turns out to be blocked.