Initial behavior
The mobile robot MARVIN
operates in unknown or partially known environments. It reconstructs the
three-dimensional description of the environment with its binocular stereo
camera. The following MPEG shows
the initial behavior of the system in an unknown environment. After the
initialization of the camera head the system reconstructs the environment
from the current position to estimate the free space for the next steps.
Path planning
In the initial step the detected obstacles were stored in the DLM
. Based on this information the vehicle plans in the following MPEGs 1,2
its path to the next goal to verify the stored information from an other
position. The path is planned in the middle between the detected tables.
At the first stop the vehicle reaches its current sensor range and, therefore,
a new scan is necessary. From this new position a chair is detected and
in the following step MARVIN
refines the information about this new object.
