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Color-Based Path Planning for Robots by Wanasinghe Arachchige Thumeera Ruwansiri is a document available to read on EtoBox.

What is Color-Based Path Planning for Robots about?

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