Autonomous Legged Robot Navigation with Environment Awareness System in Complex Outdoor Environments

被引：1

作者：

Guo, Jiamin ^{[1
]}

Lu, Guanglin ^{[1
]}

Chen, Teng ^{[1
]}

Rong, Xuewen ^{[1
]}

Li, Yibin ^{[1
]}

Wang, Zhiying ^{[1
]}

Zhao, Haoning ^{[1
]}

Zhang, Jialin ^{[1
]}

机构：

[1] Shandong Univ, Sch Control Sci & Engn, Jinan, Peoples R China

来源：

2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (IEEE-ROBIO 2021) | 2021年

基金：

国家重点研发计划; 中国博士后科学基金; 中国国家自然科学基金;

关键词：

Graph-SLAM; Variant Step Size Rapidly Exploring Random Trees; Spatial Descriptor; hybrid filtering; SLAM;

D O I：

10.1109/ROBIO54168.2021.9739328

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In order to solve the navigation of legged robot in outdoors, this paper constructs the environment awareness system. Firstly, the Graph Simultaneous Localization and Mapping (Graph-SLAM) is used to establish the 3D environment modeling and the hybrid filtering algorithm is proposed to reduce the high frequency noise of the model. Secondly, the 5 Dimension (5D) Spatial Descriptor is designed to analyze the terrain traversability region of the legged robot. After that, Variant Step Size Rapidly Exploring Random Trees (VSSRRT) is introduced for path planning. Finally, the experiment is carried out with the Yobogo legged robot which verifies that the system can satisfy the navigation requirements of the legged robot.

引用

页码：1117 / 1122

页数：6

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