Real-Time Path Planning for Humanoid Robot Navigation

  title={Real-Time Path Planning for Humanoid Robot Navigation},
  author={Jens-Steffen Gutmann and Masaki Fukuchi and Masahiro Fujita},
We present a data structure and an algorithm for real-time path planning of a humanoid robot. Due to the many degrees of freedom, the robots shape and available actions are approximated for finding solutions efficiently. The resulting 3 dimensional configuration space is searched by the A* algorithm finding solutions in tenths of a second on lowperformance, embedded hardware. Experimental results demonstrate our solution for a robot in a world containing obstacles with different heights, stairs… CONTINUE READING
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