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Open question on autonomous navigation/mapping.

asked 2016-06-10 22:20:53 -0500

krishna43 gravatar image

Hello everyone,

I am trying to solve a problem where i want my robot to go around our office space without hitting anything and create a map of our office which i can use it in future. One way of create a map is to teleoperate the robot and create a map, which is straight forward. But this process becomes very tedious if your office is very large. I am trying to automate the process.

The main difficulty i am facing is i don't want my robot to go into any cubical's while mapping, i just want it to stay it in the aisles. If i use LaserScan data and write a simple algorithm for obstacle avoidance, the robot goes into the cubical's and hit gets stuck or hits small objects or disturbs the people who are working, i don't want that to happen.

I thought i can use point cloud data to make my robot stay in the aisles and not go into cubical's. At present, i am able to get pointclouds from kinect and use plane model segmentation algorithm to find planes.

But i have no idea what to do next or how to use these planes to make the robot move/navigate so that they just stay in aisles.

Any ideas how i can proceed the problem?


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2 Answers

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answered 2016-09-02 00:20:34 -0500

Shay gravatar image

I think you can get started with ROS navigation stack.

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answered 2016-09-01 21:06:13 -0500

bona gravatar image

What kind of autonomous mapping strategy are you planning to use? Frontier based or Information based? You may find the following package interesting:

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Asked: 2016-06-10 22:20:53 -0500

Seen: 167 times

Last updated: Sep 02 '16