Walking in unknown environments — A step towards more autonomy
Walking in unknown environments — A step towards more autonomy
复制标题
在未知环境中行走——迈向更多自主权的一步
DOI：
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发表时间：
2010
期刊：
影响因子：
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通讯作者：
Hans
中科院分区：
文献类型：
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作者：
Thomas Buschmann;S. Lohmeier;Markus Schwienbacher;V. Favot;H. Ulbrich;Felix von Hundelshausen;Gerhard Rohe;Hans
我们提出了一种在未知环境中实现人形机器人自主导航的新方法。我们的方法只使用车载相机，不依赖于颜色编码、纹理表面或预定义的对象模型。我们建议使用一种不需要建立明确的环境模型的响应式导航方法。导航系统的基本思想是检查一组预先计算的可行轨迹（称为触手）的可通过性，而不是在地图中搜索路径。计算机视觉系统与我们的实时轨迹规划和控制相结合，使我们的机器人LOLA能够在以前未知的环境中安全导航。
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.