Humanoid robot path planning using rapidly explored random tree and motion primitives

• Autorzy: Szumowski Maksymilian , Zielinska Teresa

Identyfikatory

DOI

10.14313/JAMRIS/1‐2021/3

• Języki publikacji: EN

Abstrakty

EN

Path planning is an essential function of the control sy‐ stem 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 Ge‐ neration System is also presented. Described path plan‐ ner utilizes a limited number of motions called the Mo‐ tion Primitives. They are generated by Motion Generation System. Four different algorithms, namely the: Informed RRT, Informed RRT with random bias, and RRT with A* like heuristics were tested. For the last one the version with biased random function was also considered. All menti‐ oned algorithms were evaluated considering three diffe‐ rent scenarios. Obtained results are described and discus‐ sed.

Słowa kluczowe

EN

humanoid robot; path planning; rapidly exploring random tree

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2021
• Tom: Vol. 15, No. 1
• Strony: 24--30
• Opis fizyczny: Bibliogr. 17 poz., rys.

Twórcy

autor

Szumowski Maksymilian

• Warsaw University of Technology, Institute of Aeronautics and Applied Mechanics, Nowowiejska 24, Warsaw, 00– 665, https://ztmir.meil.pw.edu.pl/web/Pracownicy/inz.‑ Maksymilian‑Szumowski

autor

Zielinska Teresa

• Warsaw University of Technology, Institute of Aeronautics and Applied Mechanics, Nowowiejska 24, Warsaw, 00– 665, www: https://ztmir.meil.pw.edu.pl/web/Pracownicy/prof.‑ Teresa‑Zielinska

Bibliografia

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Uwagi

Opracowanie rekordu ze środków MNiSW, umowa Nr 461252 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2021).