Real-time navigation for a humanoid robot using particle filter

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

*此作品的通信作者

研究成果: 書貢獻/報告類型會議論文篇章

摘要

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.

原文英語
主出版物標題Innovation for Applied Science and Technology
頁面1914-1918
頁數5
DOIs
出版狀態已發佈 - 2013
事件2nd International Conference on Engineering and Technology Innovation 2012, ICETI 2012 - Kaohsiung, 臺灣
持續時間: 2012 十一月 22012 十一月 6

出版系列

名字Applied Mechanics and Materials
284-287
ISSN(列印)1660-9336
ISSN(電子)1662-7482

其他

其他2nd International Conference on Engineering and Technology Innovation 2012, ICETI 2012
國家/地區臺灣
城市Kaohsiung
期間2012/11/022012/11/06

ASJC Scopus subject areas

  • 工程 (全部)

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