Multi-goal Trajectory Planning with Motion Primitives for Hexapod Walking Robot

Petr Vaněk, Jan Faigl, Diar Masri

Abstract

This paper presents our early results on multi-goal trajectory planning with motion primitives for a hexapod walking robot. We propose to use an on-line unsupervised learning method to simultaneously find a solution of the underlying traveling salesman problem together with particular trajectories between the goals. Using this technique, we avoid pre-computation of all possible trajectories between the goals for a graph based heuristic solvers for the traveling salesman problem. The proposed approach utilizes principles of self-organizing map to steer the randomized sampling of configuration space in promising areas regarding the multi-goal trajectory. The presented results indicate the proposed steering mechanism provides a feasible multi-goal trajectory in a less number of samples than an approach based on a priori known sequence of the goals visits.

References

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Paper Citation


in Harvard Style

Vaněk P., Faigl J. and Masri D. (2014). Multi-goal Trajectory Planning with Motion Primitives for Hexapod Walking Robot . In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-040-6, pages 599-604. DOI: 10.5220/0005118405990604


in Bibtex Style

@conference{icinco14,
author={Petr Vaněk and Jan Faigl and Diar Masri},
title={Multi-goal Trajectory Planning with Motion Primitives for Hexapod Walking Robot},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2014},
pages={599-604},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005118405990604},
isbn={978-989-758-040-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Multi-goal Trajectory Planning with Motion Primitives for Hexapod Walking Robot
SN - 978-989-758-040-6
AU - Vaněk P.
AU - Faigl J.
AU - Masri D.
PY - 2014
SP - 599
EP - 604
DO - 10.5220/0005118405990604