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doi:10.3850/978-981-08-7723-1_P134
Obstacle Avoidance and Path Planning using Color Information for a Biped Robot Equipped with a Stereo Camera System
Masaaki Kitaokaa, Atsushi Yamashitab and Toru Kanekoc
Department of Mechanical Engineering , Shizuoka University, Shizuoka, Japan.
af0930025@ipc.shizuoka.ac.jp
btayamas@ipc.shizuoka.ac.jp
ctmtkane@ipc.shizuoka.ac.jp
ABSTRACT
It is necessary for a biped robot to recognize a surrounding environment when moving to the destination. This paper presents a method for path planning and obstacle avoidance for the biped robot. In our approach, the robot obtains color information and distance information of objects from images captured by a stereo camera system. Then, the robot generates a 2D grid map which locates floor regions, bump regions, obstacle regions and unmeasured regions. The robot decides its path by using the 2D grid map. Experimental results show the effectiveness of the proposed method.
Keywords: Biped robot, Stereo camera, Obstacle avoidance, Path planning, Color information.
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