Autonomous navigation for a differential drive robot in a partially known environment using a depth camera

Abstract

The present paper explores the implementation of the RRT* path planning algorithm aided with a depth sensor in a physical robot for path planning and re-planning in a partially-known or unknown environment, the robot is capable of omnidirectional motion and aims to move from a starting location to a goal location in different environments. The proposed algorithm allows the robot to move through a map while avoiding collision by detecting unknown obstacles and updating the map for further planning and motion if required. The implementation and experimental results are presented for indoor environments with partial or non-knowledge of the environment in order to achieve autonomous navigation for a holonomic drive robot in an unknown environment using a depth camera as an optical sensing device.