Real-Time Map Building for Path Planning of a Humanoid Robot

In order that the humanoid robot can walk freely in the real world, include walking up and down stairs, climbing over small obstacle, we proposed a method for building a grid map of the robotpsilas surroundings. Each grid in the map is flagged with floor or obstacle and contains a value telling the height of the floor or obstacle. At first we use sensor data build and update 3D occupancy grid and floor grid. Then the map for navigation is built under the combination of two grids. We verified our approach on the platform of simulation and the result testified that the method is able to generate the map for path planning and collision avoidance.