Research on Automatic Navigation for a Bipedal Humanoid Robot

Abstract

In this research, an automatic navigation system for a bipedal humanoid robot is proposed. The robot firstly moves around in the working space to build a 3D map by using SLAM (Simultaneous Localization and Mapping), and then move toward its destination according to the generated global and local path by using Dijkstra's algorithm and Dynamics Window Approach separately. The effectiveness of the proposed system is proven by simulation experiments.