TY - JOUR
T1 - Real-Time Path Planning in Unknown Environments for Bipedal Robots
AU - Hildebrandt, Arne Christoph
AU - Klischat, Moritz
AU - Wahrmann, Daniel
AU - Wittmann, Robert
AU - Sygulla, Felix
AU - Seiwald, Philipp
AU - Rixen, Daniel
AU - Buschmann, Thomas
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/10
Y1 - 2017/10
N2 - Autonomous navigation in dynamic and unknown environments requires real-time path planning. Solving the path planning problem for bipedal locomotion quickly and robustly is one of the main challenges in making humanoid robots competitive against mobile platforms. In this letter, we propose strategies to use mobile platform planners for improving the navigation of bipedal robots. These strategies combine advantageously continuous two-dimensional (2-D) paths with conventional step planners for humanoid robots. We introduce a mobile platform planner suitable for real-time navigation. It searches for multiple 2-D paths that makes the path planning more robust against limited calculation time and changing scenarios. It is combined with a step planner and integrated in the framework for autonomous navigation of our robot Lola. We evaluate different strategies in simulation and validate them in experiments in unknown dynamic environments.
AB - Autonomous navigation in dynamic and unknown environments requires real-time path planning. Solving the path planning problem for bipedal locomotion quickly and robustly is one of the main challenges in making humanoid robots competitive against mobile platforms. In this letter, we propose strategies to use mobile platform planners for improving the navigation of bipedal robots. These strategies combine advantageously continuous two-dimensional (2-D) paths with conventional step planners for humanoid robots. We introduce a mobile platform planner suitable for real-time navigation. It searches for multiple 2-D paths that makes the path planning more robust against limited calculation time and changing scenarios. It is combined with a step planner and integrated in the framework for autonomous navigation of our robot Lola. We evaluate different strategies in simulation and validate them in experiments in unknown dynamic environments.
KW - Humanoid and bipedal locomotion
KW - motion and path planning
KW - reactive and sensor-based planning
KW - visual-based navigation
UR - http://www.scopus.com/inward/record.url?scp=85056316545&partnerID=8YFLogxK
U2 - 10.1109/LRA.2017.2712650
DO - 10.1109/LRA.2017.2712650
M3 - Article
AN - SCOPUS:85056316545
SN - 2377-3766
VL - 2
SP - 1856
EP - 1863
JO - IEEE Robotics and Automation Letters
JF - IEEE Robotics and Automation Letters
IS - 4
M1 - 7940036
ER -