Search-Based Footstep Planning

  title={Search-Based Footstep Planning},
  author={Armin Hornung and Daniel Maier and Maren Bennewitz},
Efficient footstep planning for humanoid navigation through cluttered environments is still a challenging problem. Often, obstacles create local minima in the search space, forcing heuristic planners such as A* to expand large areas. Furthermore, planning longer footstep paths often takes a long time to compute. In this work, we introduce and discuss several solutions to these problems. For navigation, finding the optimal path initially is often not needed as it can be improved while walking… CONTINUE READING
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Autonomous biped navigation in unknown 3D environments

  • D. Maier, C. Lutz, M. Bennewitz
  • Proc. of the IEEE/RSJ Int. Conf. on Intelligent…
  • 2013
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