Path planning for four-legged walking robot using rapidly exploring random trees
Abstract eng: There are several randomized methods for problem of path planning. Rapidly exploring random trees (RRT) is a method which can deal with constraints typical for legged walking robots, e.g. limitations in rotation step resolution. Paper describes the RRT method itself and its use for path planning of four-legged walking robot, including special failure case when robot is capable of only rotating in one direction. The method proved to be robust and fast.
Contributors:
Publisher:
Institute of Thermomechanics AS CR, v.v.i., Brno
Conference Title:
Conference Title:
ENGINEERING MECHANICS 2005
Conference Venue:
Svratka (CZ)
Conference Dates:
2005-05-09 / 2005-05-12
Rights:
Text je chráněný podle autorského zákona č. 121/2000 Sb.
Record appears in:
Record created 2014-11-12, last modified 2014-11-18