Real-Time Path Planning for Humanoid Robot Navigation

被引：0
|
作者：
Gutmann, Jens-Steffen [1 ]
Fukuchi, Masaki [1 ]
Fujita, Masahiro [1 ]
机构：
[1] Sony Corp, Intelligent Syst Res Lab, Tokyo, Japan
来源：
19TH INTERNATIONAL JOINT CONFERENCE ON ARTIFICIAL INTELLIGENCE (IJCAI-05) | 2005年
关键词：
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
We present a data structure and an algorithm for real-time path planning of a humanoid robot. Due to the many degrees of freedom, the robots shape and available actions are approximated for finding solutions efficiently. The resulting 3 dimensional configuration space is searched by the A* algorithm finding solutions in tenths of a second on low-performance, embedded hardware. Experimental results demonstrate our solution for a robot in a world containing obstacles with different heights, stairs and a higher-level platform.
引用
收藏
页码：1232 / 1237
页数：6
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