An efficient path planning algorithm for the biped robot in a static environment using fast sweeping method. (July 2022)

• Record Type: Journal Article
• Authors: Parappagoudar, Deepak; Mandava, Ravi Kumar; Vundavilli, Pandu R; Betadur, Balaji
• Is Part Of: Proceedings of the Institution of Mechanical Engineers. Volume 236:Number 13(2022)
• Page Start: 7417
• Page End: 7425
• Publication Date: 2022-07
• Subjects: biped robot -- collision-free -- fast sweeping method -- optimal path -- static environment; Mechanical engineering -- Periodicals; 621.05
• DOI: 10.1177/09544062221075168
• Languages: English
• ISSNs: 0954-4062

Abstract

Obtaining the collision-free path for the biped walking machine/robot in an obstacle clustered environment is a challenging task. To overcome this difficulty, researchers around the world are implementing several collision-free path planning algorithms. It is significant to note that an effective path-planning methodology helps the biped robot to achieve a collision-free path with a minimum travel path. In the current investigation, the authors have proposed a new path planning procedure, that is, Fast Sweeping Method (FSM), to obtain the optimal path for the biped robot in a static environment. To check the effectiveness of the developed procedure, in the present investigation, the authors have tested it in both simulations as well as on an actual biped robot in a static domain. Further, the results of the current algorithm are compared with two established path planning algorithms, namely the Fast Marching Method (FMM) and A-star algorithms. In the end, it has been detected that the proposed algorithm obtains the best collision-free optimal path when compared with the Fast Marching Method (FMM) and A-star algorithms.