Door negotiation of a omni robot platform using depth map based navigation in dynamic environment

摘要

Aim of this paper is to develop a holonomic omnidirectional drive system to detect and pass through a doorway using depth map based navigation using Kinect sensor in dynamic environment. Omni drive mechanism enables holonomic motion of the system which provides efficient movement in narrow space due to higher degree of maneuverability. Omni robot is controlled in manual mode by joystick and in autonomous mode, it localizes and navigates using an overhead mounted webcam and a special augmented reality based marker and Kinect based depth mapping. The proposed system is a prototype for a multimodal holonomic wheelchair. The system has potential application in the field of assistive device, rehabilitation robotics and in multipurpose robot navigation.