Real-time navigation for a humanoid robot using particle filter

Jacky Baltes, Chi Tai Cheng, Meng Cheng Lau, Andrés Espínola

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish
Title of host publicationApplied Mechanics and Materials
Pages1914-1918
Number of pages5
Volume284-287
DOIs
Publication statusPublished - 2013
Externally publishedYes
Event2nd International Conference on Engineering and Technology Innovation 2012, ICETI 2012 - Kaohsiung
Duration: 2 Nov 20126 Nov 2012

Publication series

NameApplied Mechanics and Materials
Volume284-287
ISSN (Print)16609336
ISSN (Electronic)16627482

Other

Other2nd International Conference on Engineering and Technology Innovation 2012, ICETI 2012
CityKaohsiung
Period2/11/126/11/12

Fingerprint

Navigation
Robots
Motion planning
Navigation systems
Neural networks
Feedback

Keywords

  • Humanoid robot
  • Navigation
  • Particle filter

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Baltes, J., Cheng, C. T., Lau, M. C., & Espínola, A. (2013). Real-time navigation for a humanoid robot using particle filter. In Applied Mechanics and Materials (Vol. 284-287, pp. 1914-1918). (Applied Mechanics and Materials; Vol. 284-287). https://doi.org/10.4028/www.scientific.net/AMM.284-287.1914

Real-time navigation for a humanoid robot using particle filter. / Baltes, Jacky; Cheng, Chi Tai; Lau, Meng Cheng; Espínola, Andrés.

Applied Mechanics and Materials. Vol. 284-287 2013. p. 1914-1918 (Applied Mechanics and Materials; Vol. 284-287).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Baltes, J, Cheng, CT, Lau, MC & Espínola, A 2013, Real-time navigation for a humanoid robot using particle filter. in Applied Mechanics and Materials. vol. 284-287, Applied Mechanics and Materials, vol. 284-287, pp. 1914-1918, 2nd International Conference on Engineering and Technology Innovation 2012, ICETI 2012, Kaohsiung, 2/11/12. https://doi.org/10.4028/www.scientific.net/AMM.284-287.1914
Baltes J, Cheng CT, Lau MC, Espínola A. Real-time navigation for a humanoid robot using particle filter. In Applied Mechanics and Materials. Vol. 284-287. 2013. p. 1914-1918. (Applied Mechanics and Materials). https://doi.org/10.4028/www.scientific.net/AMM.284-287.1914
Baltes, Jacky ; Cheng, Chi Tai ; Lau, Meng Cheng ; Espínola, Andrés. / Real-time navigation for a humanoid robot using particle filter. Applied Mechanics and Materials. Vol. 284-287 2013. pp. 1914-1918 (Applied Mechanics and Materials).
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