Tran, Van Lien and Nguyen, Viet Thang and Quach, Cong Hoang and Phan, Xuan Hieu and Pham, Minh Trien (2018) Depth camera based navigation algorithms for indoor mobile robot. Technical Report. VNU-UET.
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Abstract
How can we efficiently search an object in a room? This report introduces a method for a single indoor mobile robot to find a hidden item based on states of the room when the robot is moving. A 2D distribution, called cognitive map, is built during robot movements to boost the exploring time. It is known that in the filed of exploring algorithms, A∗ usually takes more time to reach the target than recent invented algorithms such as rapidly-exploring random trees (RRT) and probabilistic roadmap (PRM). However, by adapting the cognitive map as a cost map, the A∗ algorithm is significantly improved and surpasses the two algorithms in Scannet 3D dataset. We also introduce application of depth sensors and SLAM solvers on reconstructing the room and updating cognitive map. By running a virtual robot in Gazebo simulator, it is proved that our method can work well on synthetic environment and hence, is very promising to be worked on real-life environment.
| Item Type: | Technical Report (Technical Report) |
|---|---|
| Subjects: | Information Technology (IT) |
| Divisions: | Faculty of Information Technology (FIT) |
| Depositing User: | A/Prof. Xuan Hieu Phan |
| Date Deposited: | 08 Dec 2018 08:49 |
| Last Modified: | 08 Dec 2018 08:49 |
| URI: | http://eprints.uet.vnu.edu.vn/eprints/id/eprint/3195 |
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