RT Journal Article
T1 3D Exploration and navigation with optimal-RRT planners for ground robots in indoor incidents
A1 Pérez Higueras, Noé
A1 Jardón, Alberto
A1 Rodríguez, Ángel
A1 Balaguer, Carlos
K1 Mobile robotics
K1 Search and rescue robots
K1 Path planning
K1 Navigation
K1 Exploration
K1 Point clouds
AB Navigation and exploration in 3D environments is still a challenging task for autonomous robots that move on the ground. Robots for Search and Rescue missions must deal with unstructured and very complex scenarios. This paper presents a path planning system for navigation and exploration of ground robots in such situations. We use (unordered) point clouds as the main sensory input without building any explicit representation of the environment from them. These 3D points are employed as space samples by an Optimal-RRTplanner (RRT∗) to compute safe and efficient paths. The use of an objective function for path construction and the natural exploratory behaviour of the RRT∗ planner make it appropriate for the tasks. The approach is evaluated in different simulations showing the viability of autonomous navigation and exploration in complex 3D scenarios.
PB MDPI
YR 2019
FD 2019-12-30
LK https://hdl.handle.net/10433/25607
UL https://hdl.handle.net/10433/25607
LA en
NO Sensors, 20(1), 220
NO Universidad Carlos III de Madrid
DS RIO
RD Apr 27, 2026