We consider a pursuit-evasion problem between humanoids in the presence of obstacles. In our scenario, the pursuer enters the safety area of the evader headed for collision, while the latter executes a fast evasive motion. Control schemes are designed for both the pursuer and the evader. They are structurally identical, although the objectives are different: the pursuer tries to align its direction of motion with the line- of-sight to the evader, whereas the evader tries to move in a direction orthogonal to the line-of-sight to the pursuer. At the core of the control architecture is a Model Predictive Control scheme for generating a stable gait. This allows for the inclusion of workspace obstacles, which we take into account at two levels: during the determination of the footsteps orientation and as an explicit MPC constraint. We illustrate the results with simulations on NAO humanoids.
2017, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Pages 5245-5250
MPC-based humanoid pursuit-evasion in the presence of obstacles (04b Atto di convegno in volume)
De Simone Daniele, Scianca Nicola, Ferrari Paolo, Lanari Leonardo, Oriolo Giuseppe
ISBN: 9781538626825; 978-1-5386-2683-2
Gruppo di ricerca: Robotics