著者

Noh Su-Hee Na Doo-Young Lee Chang-Seok Kim Yong-Tae

出版者

日本知能情報ファジィ学会

雑誌

SCIS & ISIS

巻号頁・発行日

vol.2010, pp.908-913, 2010

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In this paper, we present a visual navigation method in an indoor GPS environment using D* Lite and fuzzy motion planning for humanoid robots. First, we estimate the location of the robot using an inner GPS(iGPS). A global path is searched considering the direction to the goal based on D* Lite planning method. A fuzzy motion planner finds feasible locomotion primitives to track the global path. It selects an optimal primitive depending on a distance between the path and the humanoid robot and an angle difference between a tangent angle of the path and a pointing angle of the robot. Fuzzy motion planner also decides that selected primitive can be applied to the walking motion of humanoid. If it is feasible, a humanoid robot executes locomotion primitives in order to navigate to the goal along the path. We verify our approach through the navigation experiments by using a developed small humanoid robot. The experimental results demonstrate that the humanoid robot can navigate fast and stably to the goal.