Real-time Local Path Planning for Mobile Robot Based on Kinect

Abstract

(Abstract)Traditional path planning method exists the problem that the calculation is complex, efficiency is low, and has high error. In order to solve this problem, this paper proposes a realtime local path planning method for mobile robot based on Kinect. This paper uses RGB images and 3D images produced by Kinect to get the realtime peripheral dynamic en vironmental information of mobile robot, uses the fuzzy logic and information fusion technology to realize realtime path plan ning for the robot in dynamic environment, so as to solve the problem of robot target tracking and navigation. Experimental results show that this method has good stability and realtime. (Key words ) )) )Kinect sensor; fuzzy theory; path planning; mobile robot; environment perception; vision sensing