Publication detail

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

KREJSA, J., VĚCHET, S.

Original Title

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

Type

conference paper

Language

English

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.

Key words in English

mobile robot, path planning

Authors

KREJSA, J., VĚCHET, S.

RIV year

2005

Released

9. 5. 2005

Publisher

Institute of Thermomechanics, CAS

Location

Prague

ISBN

80-85918-93-5

Book

Engineering Mechanics 2005

Pages from

179

Pages to

180

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",
  pages="2",
  publisher="Institute of Thermomechanics, CAS",
  address="Prague",
  isbn="80-85918-93-5"
}