A Probabilistic Motion Planning Algorithm for Realistic Walk Path Simulation

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.