Development of an autonomous navigation system for a mobile robot based on an RGB-D camera
Abstract
This paper presents the development of an autonomous navigation system for a mobile robot based on an RGB-D camera, which allows it to navigate in a structured but unknown environment, formed by corridors and the rooms that have their entrances accessible from said corridors. hallways. Among the different applications that a mobile robot with this navigation system could have are: mapping, indoor disinfection (SARS-CoV-2) with ultraviolet light, autonomous inspection of these enclosures and many others that require autonomous visits. rooms that are accessed from a corridor or set of interconnected corridors. Said system was implemented both in simulation and in real time, obtaining for both cases the expected results when navigating through an enclosure.
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References
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