Autonomous navigation has played an increasingly significant role in quadruped robot system. However, most existing works on quadruped robots navigation using traditional search-based or sample-based methods do not consider the kinodynamic characteristics of quadruped robots, generating kinodynamically infeasible parts, that are difficult to track. In this paper, we introduce a complete navigation system considering the omnidirectional abilities of quadruped robots. First, we use kinodynamic path finding method to obtain smooth, dynamically feasible, time-optimal initial paths and add collision cost as a soft constraint to ensure safety. Then the trajectory is refined by the timed elastic band (TEB) method based on the omnidirectional model of quadruped robots. The superior performance of our work is demonstrated through simulating and real-world experiments on our quadruped robot Jueying Mini.
翻译:自主导航在四重机器人系统中发挥了越来越重要的作用。 但是,大多数使用传统搜索或抽样方法的四重机器人导航现有工程都未考虑到四重机器人的动力学特性,这些机器人产生在运动动力上不可行的部分,难以追踪。在本文中,我们引入了一个完整的导航系统,考虑到四重机器人的全向能力。首先,我们使用运动动力路径寻找方法,以获得平稳、动态可行、最理想的初始路径,并增加碰撞成本,以此作为确保安全的软约束。 然后,轨道由基于四重机器人全天线模型的定时弹性带(TEB)方法加以改进。我们工作的优性表现通过对四重机器人Jueying Mini的模拟和现实世界实验得到证明。