Walking in unknown environments - A step towards more autonomy

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 req...

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Bibliographic Details
Main Authors: Buschmann, T, Lohmeier, S, Schwienbacher, M, Favot, V, Ulbrich, H, von Hundelshausen, F, Rohe, G, Wuensche, H
Format: Conference Proceeding
Language:English
Subjects:
Cameras
Legged locomotion
Robot kinematics
Robot vision systems
Trajectory
Online Access:Request full text
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Summary: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.
ISSN:2164-0572
DOI:10.1109/ICHR.2010.5686338