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.
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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