Search-based Kinodynamic Motion Planning for Omnidirectional Quadruped Robots

Autor:	Wang, Pei, Zhou, Xiaoyu, Zhao, Qingteng, Wu, Jun, Zhu, Qiuguo
Rok vydání:	2020
Předmět:	Computer Science - Robotics
Druh dokumentu:	Working Paper
Popis:	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. Comment: 7 pages
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2011.00806 Zobrazit plný text záznamu View this record from Arxiv