Path Planning of a Humanoid Robot Using Rule-Based Technique

被引：8

作者：

Muni, Manoj Kumar ^{[1
]}

Kumar, Priyadarshi Biplab ^{[1
]}

Parhi, Dayal R. ^{[1
]}

Rath, Asita Kumar ^{[2
]}

Das, Harish Chandra ^{[3
]}

Chhotray, Animesh ^{[1
]}

Pandey, Krishna Kant ^{[1
]}

Salony, Kitty ^{[4
]}

机构：

[1] Natl Inst Technol, Mech Engn Dept, Robot Lab, Rourkela 769008, Odisha, India

[2] Natl Inst Technol, Dept Mech Engn, Papum Pare 791112, Arunachal Prade, India

[3] Natl Inst Technol, Mech Engn Dept, Shillong 793003, Meghalaya, India

[4] SRM Univ, Elect & Elect Engn Dept, Chennai 603203, Tamil Nadu, India

来源：

ADVANCES IN MECHANICAL ENGINEERING, ICRIDME 2018 | 2020年

关键词：

Humanoid robot NAO; Path planning; Rule-based technique; Simulation and experiment; MOBILE; NAVIGATION;

D O I：

10.1007/978-981-15-0124-1_135

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This paper describes the effective route organization of a humanoid robot in an unknown environment. Rule-based technique is examined for steering of the humanoid robot in chaotic environments. The prime objective of the humanoid is set as to reach the target without hitting the obstacles. Various rules are developed based on the direction of motion, the distance between the humanoid and target, the distance between the humanoid and obstacles, and the angle between the robot and adjacent obstacles. The rules considered are cultured to find out the target angle of the humanoid from its current location. The proposed methodology has been verified in simulation platform and validated against an experimental set-up with good agreement between the results obtained from both the environments.

引用

页码：1547 / 1554

页数：8

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