{"title":"一种双足机器人实时随机导航方法","authors":"Xinfeng Du, R. Xiong, Jian Chu","doi":"10.1109/WCICA.2011.5970645","DOIUrl":null,"url":null,"abstract":"Navigating autonomously in obstacle-cluttered environment is an important problem for biped robots. Path planning using classical methods, such as A* search and Dijkstra's algorithm, has made a good progress. However, these methods are inefficient. In this paper, a new algorithm named Heuristic Bi-directional Discrete Rapidly-explore Random Trees (HBD-RRTs) is presented. According to discrete stance model, two randomized-sampling-based planning trees from start state and target state are constructed respectively, where the path is generated as a set of stances by bi-directional search. Then a series of off-line gaits and an online gait generator are used to transform the path to motion trajectory. The simulation result in the platform of ZJU-Dance humanoid robot demonstrated that HBD-RRTs for biped robots is less-time-consuming and makes real-time planning possible.","PeriodicalId":211049,"journal":{"name":"2011 9th World Congress on Intelligent Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2011-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"A real-time randomized navigation method for biped robot\",\"authors\":\"Xinfeng Du, R. Xiong, Jian Chu\",\"doi\":\"10.1109/WCICA.2011.5970645\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Navigating autonomously in obstacle-cluttered environment is an important problem for biped robots. Path planning using classical methods, such as A* search and Dijkstra's algorithm, has made a good progress. However, these methods are inefficient. In this paper, a new algorithm named Heuristic Bi-directional Discrete Rapidly-explore Random Trees (HBD-RRTs) is presented. According to discrete stance model, two randomized-sampling-based planning trees from start state and target state are constructed respectively, where the path is generated as a set of stances by bi-directional search. Then a series of off-line gaits and an online gait generator are used to transform the path to motion trajectory. The simulation result in the platform of ZJU-Dance humanoid robot demonstrated that HBD-RRTs for biped robots is less-time-consuming and makes real-time planning possible.\",\"PeriodicalId\":211049,\"journal\":{\"name\":\"2011 9th World Congress on Intelligent Control and Automation\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2011-06-21\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2011 9th World Congress on Intelligent Control and Automation\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/WCICA.2011.5970645\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2011 9th World Congress on Intelligent Control and Automation","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/WCICA.2011.5970645","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
A real-time randomized navigation method for biped robot
Navigating autonomously in obstacle-cluttered environment is an important problem for biped robots. Path planning using classical methods, such as A* search and Dijkstra's algorithm, has made a good progress. However, these methods are inefficient. In this paper, a new algorithm named Heuristic Bi-directional Discrete Rapidly-explore Random Trees (HBD-RRTs) is presented. According to discrete stance model, two randomized-sampling-based planning trees from start state and target state are constructed respectively, where the path is generated as a set of stances by bi-directional search. Then a series of off-line gaits and an online gait generator are used to transform the path to motion trajectory. The simulation result in the platform of ZJU-Dance humanoid robot demonstrated that HBD-RRTs for biped robots is less-time-consuming and makes real-time planning possible.