Publication detail

Path Planning for Four-Legged Walking robot using Rapidly Exploring Random Trees

KREJSA, J. VĚCHET, S.

Czech title

Plánování cesty čtyřnohého mobilního robotu pomocí rychlých náhodných stromů

English title

Path Planning for Four-Legged Walking robot using Rapidly Exploring Random Trees

Type

conference paper

Language

en

Original abstract

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.

Czech abstract

Pro řešení problému plánování cesty existuje řada metod. Rychlé náhodné stromy (RRT) jsou metodou která je schopna splnit omezení typická pro kráčivé roboty, například omezené rozlišení rotačního pohybu. Článek popisuje vlastní metodu a její použití na plánování cesty čtyřnohého robotu včetně speciálních limitních stavů kdy je robot schopen rotace jen v jednom směru. Metoda je robustní a rychlá.

English abstract

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.

Keywords in English

mobile robot, path planning

RIV year

2005

Released

09.05.2005

Publisher

Institute of Thermomechanics, CAS

Location

Prague

ISBN

80-85918-93-5

Book

Engineering Mechanics 2005

Pages count

2

BIBTEX


@inproceedings{BUT15266,
  author="Jiří {Krejsa} and Stanislav {Věchet},
  title="Path Planning for Four-Legged Walking robot using Rapidly Exploring Random Trees",
  booktitle="Engineering Mechanics 2005",
  year="2005",
  month="May",
  publisher="Institute of Thermomechanics, CAS",
  address="Prague",
  isbn="80-85918-93-5"
}