Multi-objective trajectory planning of humanoid robot using hybrid controller for multi-target problem in complex terrain
作者：
Highlights：
• Design of hybrid controller for navigation of humanoid robot.
• A decision making controller implemented for multiple humanoids navigation.
• Simulation result and validation using real-time experiments confirms effectiveness.
• Robustness is examined against the default controller based on torque produced.
• Efficiency of controller is proved comparing against previously developed controller.
摘要
•Design of hybrid controller for navigation of humanoid robot.•A decision making controller implemented for multiple humanoids navigation.•Simulation result and validation using real-time experiments confirms effectiveness.•Robustness is examined against the default controller based on torque produced.•Efficiency of controller is proved comparing against previously developed controller.
论文关键词：Multiple humanoid robots,Multiple targets,Regression analysis,Improved Spider Monkey Optimization,B-Spline path smoother
论文评审过程：Received 5 January 2021, Revised 16 March 2021, Accepted 21 April 2021, Available online 27 April 2021, Version of Record 6 May 2021.
论文官网地址：https://doi.org/10.1016/j.eswa.2021.115110
