Planning Robot Motion for 3D Digitalization of Indoor Environments

Abstract

3D digitalization of environments without occlusions requires multiple 3D scans. Autonomous mobile robots equipped with a 3D laser scanner are well suited for the gaging task. They need an efficient exploration scheme for the digitalization. We present a new approach for planning the next scan pose as well as the robot motion. Our approach calculates a collision free trajectory regarding complicated objects, e.g., with jutting out edges. A closed loop and globally stable motor controller navigates the mobile robot. The results of a 3D digitalization experiment in the main hall of castle Birlinghoven is presented.