教師資料查詢 | 類別: 期刊論文 | 教師: 鄭吉泰 Cheng Chi Tai (瀏覽個人網頁)

標題:Real-Time Navigation for a Humanoid Robot Using Particle Filter
學年101
學期1
出版(發表)日期2013/01/01
作品名稱Real-Time Navigation for a Humanoid Robot Using Particle Filter
作品名稱(其他語言)
著者Jacky Baltes; Cheng, Chi Tai; Lau, Meng Cheng; Andrés Espínola
單位淡江大學電機工程學系
出版者Stafa-Zurich: Trans Tech Publications Ltd.
著錄名稱、卷期、頁數Applied Mechanics and Materials 284-287, pp.1914-1918
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.
關鍵字Humanoid Robot;Navigation;Particle Filter
語言英文
ISSN1660-9336
期刊性質國外
收錄於EI
產學合作
通訊作者
審稿制度
國別瑞士
公開徵稿
出版型式紙本
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