Curved surface path planning of operational cleaning robot based on RGB-D semantic segmentation
Wenxuan Jiang, Lizhe Qi, Xinrui Wang, Yunquan Sun · 2023
Compared to flat ground, objects in indoor environments have various curved surfaces, cleaning these surfaces is a higher-level task than traditional ground cleaning. To accomplish this task, we propose a new method to perform wiping on the curved surface of an object and complete the cleaning work through the end tool of the robotic arm. Our method is divided into two parts: An RGB-D semantic segmentation attention-based Feature Fusion Network (AFFNet), which can effectively fuse the features from the encoder and decoder to improve semantic segmentation accuracy; A path planning algorithm based on point cloud, which can autonomously generate the robotic arm operation path. The experimental results show that AFFNet achieves an mIOU accuracy of 46.24% on SUNRGBD dataset with excellent performance, the robotic arm can complete the curved surface cleaning operation with continuous and smooth path.