  Mobile robots dedicated in security tasks should be capable of clearly
perceiving their environment to competently navigate within cluttered areas, so
as to accomplish their assigned mission. The paper in hand describes such an
autonomous agent designed to deploy competently in hazardous environments
equipped with a laser scanner sensor. During the robot's motion, consecutive
scans are obtained to produce dense 3D maps of the area. A 3D point cloud
registration technique is exploited to merge the successively created maps
during the robot's motion followed by an ICP refinement step. The reconstructed
3D area is then top-down projected with great resolution, to be fed in a path
planning algorithm suitable to trace obstacle-free trajectories in the explored
area. The main characteristic of the path planner is that the robot's
embodiment is considered for producing detailed and safe trajectories of $1$
$cm$ resolution. The proposed method has been evaluated with our mobile robot
in several outdoor scenarios revealing remarkable performance.
