Paper Info
Title
Online Next-Best-View Planner for 3D-Exploration and Inspection With a Mobile Manipulator Robot
Abstract
Robotic systems performing end-user oriented autonomous exploration can be deployed in different scenarios which not only require mapping but also simultaneous inspection of regions of interest for the end-user. In this work, we propose a novel Next-Best-View (NBV) planner which can perform full exploration and user-oriented exploration with inspection of the regions of interest using a mobile manipulator robot. We address the exploration-inspection problem as an instance of Multi-Objective Optimization (MOO) and propose a weighted-sum-based information gain function for computing NBVs for the RGB-D camera mounted on the arm. For both types of exploration tasks, we compare our approach with an existing state-of-the-art exploration method as the baseline and demonstrate our improvements in terms of total volume mapped and lower computational requirements. The real experiments with a mobile manipulator robot demonstrate the practicability and effectiveness of our approach outdoors.
Year
DOI
Venue
2022
10.1109/LRA.2022.3146558
IEEE ROBOTICS AND AUTOMATION LETTERS
Keywords
DocType
Volume
Robots, Manipulators, Cameras, Inspection, Planning, Contamination, Pollution measurement, Field robots, environment monitoring and management, motion and path planning, reactive and sensor-based planning, robotics in hazardous fields
Journal
7
Issue
ISSN
Citations 
2
2377-3766
0
PageRank 
References 
Authors
0.34
0
3
Name
Order
Citations
PageRank
Menaka Naazare100.34
Francisco Garcia Rosas200.34
Dirk Schulz31701236.54