Visual-Based Motion Planning for Autonomous Humanoid Service Robot

Xue Song Ji; Ping Xu; Guo Chen Niu

doi:10.4028/www.scientific.net/AMR.143-144.1031

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 143-144Visual-Based Motion Planning for Autonomous...

Visual-Based Motion Planning for Autonomous Humanoid Service Robot

Abstract:

A visual-based autonomous motion planning algorithm is designed to guide the robot to take the elevator autonomously. The floor chosen operation as well as the path planning and motion control for the robot’s in-out elevator are the two critical issues. A visual-based motion regulation method is proposed in this paper, so is a manipulator motion planning algorithm based on image Jacobian Matrix. Fuzzy logic is used to mobile path planning. Experimental results on humanoid service robot proves the validity of this control system.

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Periodical:

Advanced Materials Research (Volumes 143-144)

Pages:

1031-1035

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.143-144.1031

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Online since:

October 2010

Authors:

Xue Song Ji, Ping Xu, Guo Chen Niu

Keywords:

Fuzzy Logic, Image Jacobian Matrix, Path Planning, Visual-Based

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