LiDARを用いた動的・非凸環境における時空間安全回廊によるヒューマノイドナビゲーション
LiDAR-based Humanoid Navigation in Dynamic, Non-Convex Environments via Spatio-Temporal Safe Corridors
LiDARの粒子表現から時空間安全回廊を直接構築し、LIPベースの計画と全身制御を組み合わせることで、動的で非凸な環境を移動するヒューマノイドナビゲーションを実現した。
著者: Shubham S. Kumbhar, Panagiotis Artemiadis
分類: cs.RO
原文アブストラクト
Navigating humanoid robots through dynamic, non-convex environments requires tightly coupling onboard perception with footstep planning and dynamic locomotion control. Existing methods frequently discard complex free space through simplified convex obstacle bounds and fail to account for real-time dynamic occupancy predictions. This paper presents a real-time framework for humanoid navigation that directly constructs spatio-temporal safe corridors from LiDAR-based particle representations and couples them with Linear Inverted Pendulum (LIP)-based planning and Whole Body Control (WBC) to enable navigation around and within moving non-convex structures without restrictive geometric assumptions. Simulations on the Digit humanoid yield a 96% success rate in navigating around and inside moving non-convex obstacles in a 24 by 24 m^2 arena. Ablation studies confirm that the proposed iterative polytope generation significantly outperforms single-iteration baselines in narrow corridors, while evaluations demonstrate robustness to clutter, sensor noise, control delays, and force perturbations.