Real-Time Path Planning for Humanoid Robot Navigation
Proceedings of the Nineteenth International Joint Conference on Artificial Intelligence. Pages 1232-1236.
Abstract
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 lowperformance, embedded hardware. Experimental results demonstrate our solution for a robot in a world containing obstacles with different heights, stairs and a higher-level platform.
@inproceedings{ijcai2005p117,
title = {Real-Time Path Planning for Humanoid Robot Navigation},
author = {Gutmann, Jens-Steffen and Fukuchi, Masaki and Fujita, Masahiro},
booktitle = {Proceedings of the Nineteenth International Joint Conference on
Artificial Intelligence, {IJCAI-05}},
publisher = {International Joint Conferences on Artificial Intelligence},
pages = {1232--1236},
year = {2005},
url = {https://ijcai.org/proceedings/2005/117},
}
TY - CPAPER TI - Real-Time Path Planning for Humanoid Robot Navigation AU - Gutmann, Jens-Steffen AU - Fukuchi, Masaki AU - Fujita, Masahiro T2 - Proceedings of the Nineteenth International Joint Conference on Artificial Intelligence, IJCAI-05 PB - International Joint Conferences on Artificial Intelligence PY - 2005 SP - 1232 EP - 1236 UR - https://ijcai.org/proceedings/2005/117 ER -Copied
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