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dc.contributor.authorCalderita, Luis Vicente
dc.contributor.authorBandera-Rubio, Juan Pedro 
dc.contributor.authorManso, Luis J.
dc.contributor.authorVázquez-Martín, Ricardo
dc.date.accessioned2014-11-03T13:24:39Z
dc.date.available2014-11-03T13:24:39Z
dc.date.created2014-06
dc.date.issued2014-11-03
dc.identifier.urihttp://hdl.handle.net/10630/8352
dc.description.abstractSocial robots are required to work in daily life environments. The navigation algorithms they need to safely move through these environments require reliable sensor data. We present a novel approach to increase the obstacle-avoidance abilities of robots by mounting several sensors and fusing all their data into a single representation. In particular, we fuse data from multiple RGBD cameras into a single emulated two-dimensional laser reading of up to 360 degrees. While the output of this virtual laser is two-dimensional, it integrates the obstacles detected at any height, so it can be safely used as input for regular two-dimensional navigation algorithms (both VFH* and R-ORM have been tested). Experiments conducted on real scenarios demonstrate the usefulness and efficiency of the proposed solution, which allows the robot to reach goals while avoiding static and dynamic obstacles.es_ES
dc.description.sponsorshipUniversidad de Málaga. Campus de Excelencia Internacional Andalucía Tech.es_ES
dc.language.isoenges_ES
dc.rightsinfo:eu-repo/semantics/openAccesses_ES
dc.subjectRobots autónomoses_ES
dc.subject.otherMobile robotses_ES
dc.subject.otherReactive navigationes_ES
dc.subject.otherRGBDes_ES
dc.subject.otherSensor arrayses_ES
dc.title3D laser from RGBD projections in robot local navigationes_ES
dc.typeinfo:eu-repo/semantics/conferenceObjectes_ES
dc.relation.eventtitleWorkshop on Physical Agents WAF 2014es_ES
dc.relation.eventplaceLeónes_ES
dc.relation.eventdate12-12 Junio 2014es_ES
dc.identifier.orcidhttps://orcid.org/0000-0003-3814-0335es_ES


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