Real-Time Navigation for a Humanoid Robot Using Particle Filter

doi:10.4028/www.scientific.net/AMM.284-287.1914

淡江大學機構典藏 > 工學院 > 電機工程學系暨研究所 > 期刊論文 > Item 987654321/80288

jsp.display-item.identifier=請使用永久網址來引用或連結此文件: https://tkuir.lib.tku.edu.tw/dspace/handle/987654321/80288

题名:	Real-Time Navigation for a Humanoid Robot Using Particle Filter
作者:	Jacky Baltes;Cheng, Chi Tai;Lau, Meng Cheng;Andrés Espínola
贡献者:	淡江大學電機工程學系
关键词:	Humanoid Robot;Navigation;Particle Filter
日期:	2013-01
上传时间:	2013-01-21 15:01:53 (UTC+8)
出版者:	Stafa-Zurich: Trans Tech Publications Ltd.
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.
關聯:	Applied Mechanics and Materials 284-287, pp.1914-1918
DOI:	10.4028/www.scientific.net/AMM.284-287.1914
显示于类别:	[電機工程學系暨研究所] 期刊論文

文件中的档案:

没有与此文件相关的档案.

在機構典藏中所有的数据项都受到原著作权保护.

TAIR相关文章

数据加载中.....