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Real-Time Path Planning for Humanoid Robot Navigation

Jens-Steffen Gutmann, Masaki Fukuchi, Masahiro Fujita
IJCAI 2005 pp. 1232-1237
/ijcai/2005/gutmann2005ijcai-real/

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. 1

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Text

Gutmann et al. "Real-Time Path Planning for Humanoid Robot Navigation." International Joint Conference on Artificial Intelligence, 2005.

Markdown

[Gutmann et al. "Real-Time Path Planning for Humanoid Robot Navigation." International Joint Conference on Artificial Intelligence, 2005.](https://mlanthology.org/ijcai/2005/gutmann2005ijcai-real/)

BibTeX

@inproceedings{gutmann2005ijcai-real,
  title     = {{Real-Time Path Planning for Humanoid Robot Navigation}},
  author    = {Gutmann, Jens-Steffen and Fukuchi, Masaki and Fujita, Masahiro},
  booktitle = {International Joint Conference on Artificial Intelligence},
  year      = {2005},
  pages     = {1232-1237},
  url       = {https://mlanthology.org/ijcai/2005/gutmann2005ijcai-real/}
}