Planeación de trayectorias para un móvil robótico en un ambiente 3D

Abstract

This article describes the development of a path generating system for the movement of a remote commanded robotic mobile, through machine vision techniques and fuzzy decision systems. Using a Kinect sensor, the system captures the motion area of the mobile and using image processing techniques, obstacles are segmented and a fuzzy clustering algorithm is implemented to define the possible paths to follow based on height and ability of mobile to exceed the obstacle. Communication between the mobile and the control system is performing wirelessly using a XBEE device which is centralized into PC software; therefore the robot travels locally through a microcontroller. By the developed algorithm is able to get a travel path with a minimum run time, in which it is possible to change the number of obstacles and approach paths with a slope up to 35 degrees of elevation from the ground.