Bp 388 en
Framework for exploration by humanoid robot
Author: Michal Marek
The thesis deals with addresses the problem of searching a humanoid robot motion planning in the state space and then constructing 3D maps. Instead of the real environment in the simulation is freely available simulators Openrave. Real robot is replaced by a simulated humanoid robot Hubo 2 Plus, which is available in the library OpenHubo. Probing depth environment was provided to 3D sensor. The data obtained from this sensor was prepared 3D map. To this end, an open source library was used Octomap. The aim of the work is to search the state space and build a 3D map.