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Perception-based motion planning for a walking robot in rugged terrain (Guided RRT)

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Published on May 21, 2012

The algorithm called guided RRT for the six-legged walking robot considers the problem of planning a sequence of elementary motions (steps) and its implementation on the real robot. It takes into account that the robot has limited abilities to perceive the environment. The A* algorithm is used for long horizon planning on a map obtained from the stereo camera data. Then, the RRT-Connect method is used to find a sequence of feasible movements for the body and feet of the robot on a more precise map obtained by using the Hokuyo laser rangefinder.

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