Real-time path planning for humanoid robot navigation

Authors:
Jens-Steffen Gutmann;Masaki Fukuchi;Masahiro Fujita
Affiliations:
Intelligent Systems Research Laboratory, Sony Corporation, Tokyo, Japan;Intelligent Systems Research Laboratory, Sony Corporation, Tokyo, Japan;Intelligent Systems Research Laboratory, Sony Corporation, Tokyo, Japan
Venue:
IJCAI'05 Proceedings of the 19th international joint conference on Artificial intelligence
Year:
2005

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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.