Obstacle avoidance and path planning for humanoid robots using stereo vision
- 1 January 2004
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 1 (10504729), 592-597 Vol.1
- https://doi.org/10.1109/robot.2004.1307213
Abstract
This work presents methods for path planning and obstacle avoidance for the humanoid robot QRIO, allowing the robot to autonomously walk around in a home environment. For an autonomous robot, obstacle detection and localization as well as representing them in a map are crucial tasks for the success of the robot. Our approach is based on plane extraction from data captured by a stereo-vision system that has been developed specifically for QRIO. We briefly overview the general software architecture composed of perception, short and long term memory, behavior control, and motion control, and emphasize on our methods for obstacle detection by plane extraction, occupancy grid mapping, and path planning. Experimental results complete the description of our system.Keywords
This publication has 8 references indexed in Scilit:
- A small humanoid robot SDR-4X for entertainment applicationsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2004
- Plane segment finder: algorithm, implementation and applicationsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- A small biped entertainment robotPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Motion entertainment by a small humanoid robot based on OPEN-RPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Development of an Autonomous Quadruped Robot for Robot EntertainmentPublished by Springer Nature ,1998
- An evidential approach to map-building for autonomous vehiclesIEEE Transactions on Robotics and Automation, 1998
- An open architecture for robot entertainmentPublished by Association for Computing Machinery (ACM) ,1997
- Error eliminating rapid ultrasonic firing for mobile robot obstacle avoidanceIEEE Transactions on Robotics and Automation, 1995