Path Planning of a Humanoid Robot Using Rule-Based Technique

Abstract

This paper describes the effective route organization of a humanoid robot in an unknown environment. Rule-based technique is examined for steering of the humanoid robot in chaotic environments. The prime objective of the humanoid is set as to reach the target without hitting the obstacles. Various rules are developed based on the direction of motion, the distance between the humanoid and target, the distance between the humanoid and obstacles, and the angle between the robot and adjacent obstacles. The rules considered are cultured to find out the target angle of the humanoid from its current location. The proposed methodology has been verified in simulation platform and validated against an experimental set-up with good agreement between the results obtained from both the environments.