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    Please use this identifier to cite or link to this item: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/80288


    Title: Real-Time Navigation for a Humanoid Robot Using Particle Filter
    Authors: Jacky Baltes;Cheng, Chi Tai;Lau, Meng Cheng;Andrés Espínola
    Contributors: 淡江大學電機工程學系
    Keywords: Humanoid Robot;Navigation;Particle Filter
    Date: 2013-01
    Issue Date: 2013-01-21 15:01:53 (UTC+8)
    Publisher: Stafa-Zurich: Trans Tech Publications Ltd.
    Abstract: 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.
    Relation: Applied Mechanics and Materials 284-287, pp.1914-1918
    DOI: 10.4028/www.scientific.net/AMM.284-287.1914
    Appears in Collections:[電機工程學系暨研究所] 期刊論文

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