About this document
Color-Based Path Planning for Robots by Wanasinghe Arachchige Thumeera Ruwansiri is a document available to read on EtoBox.
This document describes a course project for implementing color-based global path planning for a humanoid and wheeled robot. It involves segmenting a 2D color image into floor, obstacles and non-planar surfaces to generate a 3D occupancy grid and floor height map. Region growing is used to expand obstacles for each robot type. An A* search algorithm plans paths which are then generated as movement commands. The objectives are to compare robot performance and address additional challenges like stepping over
- Author
- Wanasinghe Arachchige Thumeera Ruwansiri
- Language
- EN