Cooperative Path Planning for a Heterogeneous Robotic System Composed of a Humanoid Robot and a Wheel Robot

This study presents a path planning strategy for a robotic system, subject to visibility restrictions, composed of a humanoid robot and a wheel robot. The planner calculates a cooperative pathway, assuming a known map a priori, considering that the humanoid robot is identified by a mark placed inside its front portion and all information processing is executed in the mobile robot. Experimental results validated the proposed idea.