METHOD FOR PLANNING AN OPTIMAL PATH IN A BIPED ROBOT

摘要

PURPOSE: An optimal path planning method of a biped robot is provided to plan the optimal path so that the robot is able to avoid an obstacle by minimizing the rotation of the route. CONSTITUTION: An optimal path planning method of a biped robot comprises the steps for initializing the information about start, goal, before, present, and obstacle nodes(S101); calculating the route cost from the start node to the present node(S102); inputting candidate nodes to the candidate list(S103); calculating the angle cost of each candidate node(S104); calculating the heuristic cost of the candidate node(S105); calculating the total cost of the candidate node according to the route cost, the angle cost, and the heuristic cost(S106); updating the total cost after the candidate node is input(S107); appointing the candidate node corresponding to the minimum total cost as the next node(S108); and deciding whether or not the next node is the goal node(S109).