Artículos

 

Autonomous Motion Planning for Avatar Limbs

 

Cristian E. Boyain y Goytia Luna¹, Andrés Méndez Vázquez¹, Marco Antonio Ramos Corchado²

 

¹ Instituto Politécnico Nacional, Centro de Investigación y Estudios Avanzados, Jalisco, México. cboyain@gdl.cinvestav.mx, amendez@gdl.cinvestav.mx

² Universidad Autónoma del Estado de México, Toluca, Estado de México, México. marco.corchado@gmail.com

Corresponding author is Cristian E. Boyain y Goytia Luna.

 

Article received on 05/12/2014.
Accepted on 09/04/2015.

 

Abstract

In this work, a new algorithm for autonomous avatar motion is presented. The new algorithm is based in the Rapidly-exploring Random Tree (RRT) and an appropriate ontology. It uses a novel approach for calculating the motion sequence planning for the different avatar limbs: legs or arms. First, the algorithm uses the information stored in the ontology concerning the avatar structure and the Degrees Of Freedom (DOFs) to obtain the basic actions for motion planning. Second, this information is used to perform the growth process in the RRT algorithm. Then, all this information is used to produce planning. The plans are generated by a random search for possible motions that respect the structural restrictions of the avatar on kinesiology studies. To avoid a big configuration space search, exploration, exploitation, and hill climbing are used in order to obtain motion plans.

Keywords: Avatar, rapidly-exploring random tree, degree of freedom, ontology, kinesiology.

 

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Acknowledgements

This work has been funded by CONACYT scholarship 227266/212740.

 

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