Perception-Based Motion Planning for a Walking Robot in Rugged Terrain

Conference paper
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 422)

Abstract

The article presents a path planning algorithm called guided RRT for a six-legged walking robot. The proposed method considers the problem of planning a sequence of elementary motions (steps) and its implementation on the real robot. It takes into account that the robot has limited abilities to perceive the environment. The A* algorithm is used for long horizon planning on a map obtained from the stereo camera data. Then, the RRT-Connect method is used to find a sequence of feasible movements for the body and feet of the robot on a more precise map obtained by using the Hokuyo laser rangefinder. A strategy for path planning is proposed. Experimental results which show efficiency of the algorithm are presented.

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Copyright information

© Springer London 2012

Authors and Affiliations

  1. 1.Institute of Control and Information EngineeringPoznań University of TechnologyPoznańPoland

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