Quadruped robot autonomous navigation method based on 2.5 D cost map

• Main Authors: YAN CHENGZHEN, LIU QINGCHEN, MA QICHAO, QIN JIAHU, JIAO YUAN
• Format: Patent
• Language: Chinese; English
• Published: 04.10.2022
• Subjects: GYROSCOPIC INSTRUMENTS; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; SURVEYING; TESTING

The invention relates to the field of quadruped robot control, and discloses a 2.5 D cost map-based quadruped robot autonomous navigation method, which can filter and extract different terrain information such as steps, slopes, rough ground and the like in an environment in combination with height information of obstacles and the environment, and finally calculate a trafficability cost map of related positions. According to the trafficability cost map, the robot can automatically select a smooth landform which is easy to pass in a path planning process, so that the accident rate of the robot is greatly reduced. 本发明涉及四足机器人控制领域，公开了一种基于2.5D代价地图的四足机器人自主导航方法，可以结合障碍物和环境的高度信息，过滤提取出环境中不同的地形信息比如台阶、斜坡、粗糙地面等，最终计算出相关位置的可通过性代价地图；该可通过性代价地图可使机器人在路径规划过程中自动选择易于通行的平整地貌，从而极大降低了机器人的事故率。