Es farà ús d'un robot d'inventari en tendes per a millorar-ne l'exploració augmentant el coneixement sobre el seu entorn afegint-hi sensors i el programari necessari.

Many mobile robotic systems produce a 3D model of their environment by sweeping it with their RGBD (color and depth) cameras. In the case of the Advanrobot, an automatic inventory wheeled robot for retail stores, such ability opens the door to a range of new possibilities such as building a virtual store or helping retailers in measuring the impact of the placement of products, furniture and their combination in the sales. This work presents a solution to enable Advanrobot for building 3D models from its RGBD camera measures. To do so, external tools have been used to handle navigation, localization, mapping and point cloud combination so that the main development is focused on 3D exploration to ensure 3D model completeness. As navigation is limited to 2 dimensions, the ground projection of the camera point clouds is used as input for a frontier based exploration approach consisting in a flexible framework able to extensively tune exploration decisions such as the evaluation of frontiers, when should the robot decide a new navigation goal or how to choose a proper goal when a frontier has already been chosen. Also, some additional tools have been developed as spin-offs of the work such as a hole detector, a point cloud trimmer or a camera calibrator. The approach has been proved to be useful for automatic 3D mapping of the environment. Exploration based mapping lead to similar results than teleoperated mapping. Each related tool also solved its corresponding problem. The results of this work may apply to any wheeled robot with a fixed RGBD camera.