A Probabilistic Motion Planning Algorithm for Realistic Walk Path Simulation
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Date
2018
Journal Title
Journal ISSN
Volume Title
Publisher
The Eurographics Association
Abstract
This paper presents an approach that combines a hybrid A* path planner with a statistical motion graph to effectively generate a rich repertoire of walking trajectories. The motion graph is generated from a comprehensive database (20 000 steps) of captured human motion and covers a wide range of gait variants. The hybrid A* path planner can be regarded as an orchestrationinstance, stitching together succeeding left and right steps, which were drawn from the statistical motion model. Moreover, the hybrid A* planner ensures a collision-free path between a start and an end point. A preliminary evaluation underlines the evident benefits of the proposed algorithm.
Description
@inproceedings{10.2312:egp.20181009,
booktitle = {EG 2018 - Posters},
editor = {Jain, Eakta and Kosinka, JirÃ},
title = {{A Probabilistic Motion Planning Algorithm for Realistic Walk Path Simulation}},
author = {Agethen, Philipp and Neher, Thomas and Gaisbauer, Felix and Manns, Martin and Rukzio, Enrico},
year = {2018},
publisher = {The Eurographics Association},
ISSN = {1017-4656},
ISBN = {},
DOI = {10.2312/egp.20181009}
}