TopoPlan: a topological path planner for real time human navigation under floor and ceiling constraints

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dc.contributor.authorLamarche, F.en_US
dc.date.accessioned2015-02-23T10:17:32Z
dc.date.available2015-02-23T10:17:32Z
dc.date.issued2009en_US
dc.description.abstractIn this article we present TopoPlan, a topological planner dedicated to real-time humanoid path-planning and motion adaptation to floor and ceiling constraints inside complex static environments. This planner analyzes unstructured 3D triangular meshes in order to automatically determine their topology. The analysis is based on a prismatic spatial subdivision which is analyzed, taking into account humanoid characteristics, in order to extract navigable surfaces and precisely identify environmental constraints such as floors, ceilings, walls, steps and bottlenecks. The technique also provides a lightweight roadmap computation covering all accessible free space. We demonstrate the properties of our topological planner within the context of two reactive motion control processes: an on-the-fly trajectory optimization and foot print generation process that correctly handles climbing of complex staircases, and a reactive ceiling adaptation process that handles beam avoidance and motion adaptation to irregular floors and ceilings. We further show that the computation cost of these processes is compatible with the real time animation of several dozens of virtual humans.en_US
dc.description.number2en_US
dc.description.seriesinformationComputer Graphics Forumen_US
dc.description.volume28en_US
dc.identifier.doi10.1111/j.1467-8659.2009.01405.xen_US
dc.identifier.issn1467-8659en_US
dc.identifier.pages649-658en_US
dc.identifier.urihttps://doi.org/10.1111/j.1467-8659.2009.01405.xen_US
dc.publisherThe Eurographics Association and Blackwell Publishing Ltden_US
dc.titleTopoPlan: a topological path planner for real time human navigation under floor and ceiling constraintsen_US
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