scholarly journals Humanoid Robot Path Planning Using Rapidly Explored Random Tree and Motion Primitives

2021 ◽  
pp. 24-30
Author(s):  
Maksymilian Szumowski ◽  
Teresa Zielińska
Keyword(s):  
Path Planning ◽  
Humanoid Robot ◽  
Short Description ◽  
Robot Path Planning ◽  
Motion Generation ◽  
Generation System ◽  
Motion Primitives ◽  
Control Framework ◽  
Path Planner ◽  
Robot Path

Path planning is an essential part of the control system of any mobile robot. In this article the path planner for a humanoid robot is presented. The short description of an universal control framework and the Motion Generation System is also presented. Described path planner utilizes a limited number of motions called the Motion Primitives. They are generated by Motion Generation System. Four different algorithms, namely the: Informed RRT, Informed RRT with random bias, and RRT with A* likeheuristics were tested. For the last one the version with biased random function was also considered. All mentioned algorithms were evaluated considering three dif ferent scenarios. Obtained results are described and discussed.

Mobile Robot Path Planning using Voronoi Diagram and Fast Marching

2015 ◽  
pp. 92-108 ◽  
Author(s):  
S. Garrido ◽  
L. Moreno
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Voronoi Diagram ◽  
High Speed ◽  
Fast Marching Method ◽  
Robot Path Planning ◽  
Fast Marching ◽  
Path Planner ◽  
Marching Method ◽  
Robot Path

This chapter presents a new sensor-based path planner, which gives a fast local or global motion plan capable to incorporate new obstacles data. Within the first step, the safest areas in the environment are extracted by means of a Voronoi Diagram. Within the second step, the fast marching method is applied to the Voronoi extracted areas so as to get the trail. This strategy combines map-based and sensor-based designing operations to supply a reliable motion plan, whereas it operates at the frequency of the sensor. The most interesting characteristics are high speed and reliability, as the map dimensions are reduced to a virtually one-dimensional map and this map represents the safest areas within the environment.

K-Order Surrounding Roadmaps Path Planner for Robot Path Planning

2013 ◽  
Vol 75 (3-4) ◽  
pp. 493-516 ◽  
Author(s):  
Yueqiao Li ◽  
Dayou Li ◽  
Carsten Maple ◽  
Yong Yue ◽  
John Oyekan
Keyword(s):  
Path Planning ◽  
Robot Path Planning ◽  
Path Planner ◽  
Robot Path

Numerical Potential Field Techniques for Robot Path Planning.

1989 ◽  
Author(s):  
Jerome Barraquand ◽  
Bruno Langlois ◽  
Jean-Claude Latombe
Keyword(s):  
Path Planning ◽  
Potential Field ◽  
Robot Path Planning ◽  
Field Techniques ◽  
Robot Path
Sign in / Sign up

Export Citation Format

Share Document