Walking in unknown environments - A step towards more autonomy
We present a new approach to autonomous navigation for humanoid robots in previously unknown environments. Our method uses only on-board cameras and does not rely on color coding, textured surfaces or predefined object models. We propose using a reactive approach towards navigation that does not req...
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| creator | Buschmann, T Lohmeier, S Schwienbacher, M Favot, V Ulbrich, H von Hundelshausen, F Rohe, G Wuensche, H |
| description | We present a new approach to autonomous navigation for humanoid robots in previously unknown environments. Our method uses only on-board cameras and does not rely on color coding, textured surfaces or predefined object models. We propose using a reactive approach towards navigation that does not require building an explicit model of the environment. The basic idea of the navigation system is to check a set of precalculated feasible trajectories (called tentacles) for passability instead of searching for a path within a map. The computer vision system was combined with our real-time trajectory planning and control, enabling our robot LOLA to safely navigate in previously unknown environments. |
| doi_str_mv | 10.1109/ICHR.2010.5686338 |
| format | Conference Proceeding |
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| identifier | ISSN: 2164-0572 |
| ispartof | 2010 10th IEEE-RAS International Conference on Humanoid Robots, 2010, p.237-244 |
| issn | 2164-0572 |
| language | eng |
| recordid | cdi_ieee_primary_5686338 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Cameras Legged locomotion Robot kinematics Robot vision systems Trajectory |
| title | Walking in unknown environments - A step towards more autonomy |
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