Intelligent Service Robotics

, Volume 12, Issue 1, pp 103–123 | Cite as

Optimal motion planning and stopping test for 3-D object reconstruction

  • Heikel Yervilla-Herrera
  • J. Irving Vasquez-Gomez
  • Rafael Murrieta-CidEmail author
  • Israel Becerra
  • L. Enrique Sucar
Original Research Paper


In this work, two aspects of motion planning for object reconstruction are investigated. First, the effect of using a sampling-based optimal motion planning technique to move a mobile manipulator robot with 8 degrees of freedom, during the reconstruction process, in terms of several performance criteria is studied. Based on those criteria, the results of the reconstruction task using rapidly exploring random tree (RRT) approaches are compared, more specifically RRT* smart versus RRT* versus standard RRT. Second, the problem of defining a convenient stopping probabilistic test to terminate the reconstruction process is addressed. Based on our results, it is concluded that the use of a RRT* improves the measured performance criteria compared with a standard RRT. The simulation experiments show that the proposed stopping test is adequate. It stops the reconstruction process when all the portions of object that are possible to be seen have been covered with the field of view of the sensor.


Optimal motion planning Object reconstruction Termination test 


Supplementary material

Supplementary material 1 (mp4 8390 KB)


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Copyright information

© Springer-Verlag GmbH Germany, part of Springer Nature 2018

Authors and Affiliations

  1. 1.Centro de Investigación en Matemáticas (CIMAT)GuanajuatoMexico
  2. 2.Consejo Nacional de Ciencia y Tecnología (CONACYT) - Instituto Politécnico Nacional (IPN)Mexico CityMexico
  3. 3.Instituto Nacional de Astrofísica Óptica y Electrónica (INAOE)San Andrés CholulaMexico

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