Path planning method of a humanoid robot based on a home network

被引：0
|
作者：
Yu, Jiayuan [1 ]
Zhang, Lei [1 ]
Bian, Gui-Bin [2 ]
Liu, Chenxi [1 ]
机构：
[1] Beijing Univ Civil Engn & Architecture, Beijing Adv Innovat Ctr Intelligent Robots & Syst, Beijing Key Lab Robot Bion & Funct Res, Beijing 10016, Peoples R China
[2] Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
来源：
2019 IEEE 4TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (ICARM 2019) | 2019年
基金：
中国国家自然科学基金;
关键词：
CONTROLLER;
D O I：
10.1109/icarm.2019.8833853
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
Human machine natural cohabitation is one of the most important way for humanoid robots to serve humans. This paper aims to improve the efficiency of the path planning system of a humanoid robot in a human robot cohabitation environment. In the proposed system, an environment map is acquired by an improved method based on visual sensors, and the mathematical model is established according to the acquired environmental information. Two improvements are made to the traditional A* algorithm for the humanoid robot's path planning. The improved algorithm can achieve the system's more efficient path planning in complex indoor environments. And the effectiveness of the proposed methods has been verified by experiments designed in actual scene.
引用
收藏
页码：875 / 880
页数：6
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