Kinect-based path planning and execution for autonomous mobile robot using ROS:case of robuter

Abstract

This project presents preliminary results of the application of two-Kinect cameras system on a two wheeled indoor mobile robot for off-line path planning and execution. In our approach, the robot makes use of depth information delivered by the vision system to accurately model its surrounding environment through image processing techniques. In addition, a Rapidly-exploring random tree is implemented to generate a collision-free path linking an initial configuration of the mobile robot (Source) to a final configuration (Target). After that, Piecewise Cubic Hermite Interpolating Polynomial is used to smooth the generated optimal path. Finally, a comparison between RRT and Genetic algorithm has been done.