Vision-based maze navigation for humanoid robots
Vision-based maze navigation for humanoid robots
复制标题
基于视觉的仿人机器人迷宫导航
DOI：
10.1007/s10514-015-9533-1
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发表时间：
2017
影响因子：
3.5
通讯作者：
M. Vendittelli
中科院分区：
文献类型：
--
作者：
Antonio Paolillo;Angela Faragasso;G. Oriolo;M. Vendittelli
我们提出了一种基于视觉的方法，用于人形机器人在通过曲线和交叉点连接的走廊网络中导航。人形机器人的目标是沿着走廊行走，尽可能靠近走廊的中心，以最大限度地提高运动安全性，并在弯道和路口转弯。我们的控制算法的灵感来自一种最初为独轮车机器人设计的技术，我们已经适应了类人导航，并扩展到应对转弯和路口的存在。此外，我们还证明了走廊跟随控制律即使在走廊墙壁不平行的情况下也能使机器人的航向和位置渐近收敛于走廊平分线。设计了一个状态转换系统，允许在走廊、弯道和t形路口的迷宫中导航。大量的实验验证证明了该方法的有效性和鲁棒性。
We present a vision-based approach for navigation of humanoid robots in networks of corridors connected through curves and junctions. The objective of the humanoid is to follow the corridors, walking as close as possible to their center to maximize motion safety, and to turn at curves and junctions. Our control algorithm is inspired by a technique originally designed for unicycle robots that we have adapted to humanoid navigation and extended to cope with the presence of turns and junctions. In addition, we prove here that the corridor following control law provides asymptotic convergence of robot heading and position to the corridor bisector even when the corridor walls are not parallel. A state transition system is designed to allow navigation in mazes of corridors, curves and T-junctions. Extensive experimental validation proves the validity and robustness of the approach.