Real-time path planning for humanoid robot

doi:10.3778/j.issn.1002-8331.2009.27.002

Computer Engineering and Applications ›› 2009, Vol. 45 ›› Issue (27): 4-6.DOI: 10.3778/j.issn.1002-8331.2009.27.002

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Real-time path planning for humanoid robot

ZHANG Tong^1，2，XIAO Nan-feng¹

1.School of Computer Science and Engineering，South China University of Technology，Guangzhou 510640，China
2.Dept. of Computer，Guangdong Police Officers College，Guangzhou 510230，China

Received:2009-06-16 Revised:2009-07-27 Online:2009-09-21 Published:2009-09-21
Contact: ZHANG Tong

仿人机器人实时路径规划方法研究

张彤^1，2，肖南峰¹

1.华南理工大学计算机科学与工程学院，广州 510640
2.广东警官学院计算机系，广州 510230

通讯作者: 张彤

Abstract

Abstract: In order to make humanoid robot walk freely in our environment，the humanoid robot’s actions are discretized into a set of given actions and configuration space is discretized into grids.The environment map is built by using the stereo vision and plane segmentation method.The shape of humanoid robot is simplified into double-cylinders model for the sake of checking obstacles.In the end a sequence of actions，which waste the least cost，is found out from the environment map as a path.The results of simulation prove the validity of the method.

Key words: obstacle checking, path planning, humanoid robot

摘要： 为了使仿人机器人在人类生活环境中自由行走，将仿人机器人的动作离散化为指定的动作，将状态空间离散化为网格，利用立体视觉和平面提取方法建立环境地图，将仿人机器人的轮廓简化为双圆柱模型进行避障检测，最终在环境地图中搜寻代价最小的一系列可行的动作作为路径，通过仿真实验验证了方法的有效性。

关键词: 避障检测, 路径规划, 仿人机器人

CLC Number:

TP391.41

ZHANG Tong^1，2，XIAO Nan-feng¹. Real-time path planning for humanoid robot[J]. Computer Engineering and Applications, 2009, 45(27): 4-6.

张彤^1，2，肖南峰¹. 仿人机器人实时路径规划方法研究[J]. 计算机工程与应用, 2009, 45(27): 4-6.

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Real-time path planning for humanoid robot

仿人机器人实时路径规划方法研究

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