Real-time navigation for a humanoid robot using particle filter

Jacky Baltes*, Chi Tai Cheng, Meng Cheng Lau, Andrés Espínola

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution


This paper presents a practical real-time visual navigation system, including a vision system, a particle filter (PF) based localization system, and a path planning system, for humanoid robots in an indoor environment. A neural network (NN) converter system is used to solve the image distortion problem. The monocular vision system detects objects of interest in the scene, calculating their position in the image, and converting the position in the image to real world coordinates. The PF localization system estimates the current position by the robot's motion model and corrects the estimated position by using feedback from the data gathered by the vision system. The path planning system determines the next motion based on the result of the localization system. This paper uses a tree-like path planning method which not only guides the robot to the destination but also avoids obstacles at the same time. The navigation method allows a user to assign several different target destinations to the robot simultaneously. The proposed method is implemented on a humanoid robot "ROBOTIS DARwIn-OP", an open platform humanoid robot. The effectiveness of the system is demonstrated in an empirical evaluation.

Original languageEnglish
Title of host publicationInnovation for Applied Science and Technology
Number of pages5
Publication statusPublished - 2013
Externally publishedYes
Event2nd International Conference on Engineering and Technology Innovation 2012, ICETI 2012 - Kaohsiung, Taiwan
Duration: 2012 Nov 22012 Nov 6

Publication series

NameApplied Mechanics and Materials
ISSN (Print)1660-9336
ISSN (Electronic)1662-7482


Other2nd International Conference on Engineering and Technology Innovation 2012, ICETI 2012


  • Humanoid robot
  • Navigation
  • Particle filter

ASJC Scopus subject areas

  • General Engineering


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