{"title":"双足仿人机器人自动导航研究","authors":"Bin Zhang, Junjie Moh, Hun-ok Lim","doi":"10.1109/PIC53636.2021.9687086","DOIUrl":null,"url":null,"abstract":"In this research, an automatic navigation system for a bipedal humanoid robot is proposed. The robot firstly moves around in the working space to build a 3D map by using SLAM (Simultaneous Localization and Mapping), and then move toward its destination according to the generated global and local path by using Dijkstra's algorithm and Dynamics Window Approach separately. The effectiveness of the proposed system is proven by simulation experiments.","PeriodicalId":297239,"journal":{"name":"2021 IEEE International Conference on Progress in Informatics and Computing (PIC)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2021-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Research on Automatic Navigation for a Bipedal Humanoid Robot\",\"authors\":\"Bin Zhang, Junjie Moh, Hun-ok Lim\",\"doi\":\"10.1109/PIC53636.2021.9687086\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this research, an automatic navigation system for a bipedal humanoid robot is proposed. The robot firstly moves around in the working space to build a 3D map by using SLAM (Simultaneous Localization and Mapping), and then move toward its destination according to the generated global and local path by using Dijkstra's algorithm and Dynamics Window Approach separately. The effectiveness of the proposed system is proven by simulation experiments.\",\"PeriodicalId\":297239,\"journal\":{\"name\":\"2021 IEEE International Conference on Progress in Informatics and Computing (PIC)\",\"volume\":\"25 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2021-12-17\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2021 IEEE International Conference on Progress in Informatics and Computing (PIC)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/PIC53636.2021.9687086\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2021 IEEE International Conference on Progress in Informatics and Computing (PIC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/PIC53636.2021.9687086","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
摘要
本文提出了一种双足仿人机器人的自动导航系统。机器人首先在工作空间内移动，利用SLAM (Simultaneous Localization and Mapping)方法构建三维地图，然后分别利用Dijkstra算法和Dynamics Window方法根据生成的全局路径和局部路径向目的地移动。仿真实验证明了该系统的有效性。
Research on Automatic Navigation for a Bipedal Humanoid Robot
In this research, an automatic navigation system for a bipedal humanoid robot is proposed. The robot firstly moves around in the working space to build a 3D map by using SLAM (Simultaneous Localization and Mapping), and then move toward its destination according to the generated global and local path by using Dijkstra's algorithm and Dynamics Window Approach separately. The effectiveness of the proposed system is proven by simulation experiments.
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