Motion planning method of quadruped robot for narrow environment

Abstract

The invention discloses a quadruped robot motion planning method for a narrow environment. The method comprises the following steps: constructing a local point cloud map according to surrounding environment information detected by an airborne sensor of a quadruped robot, and converting the local point cloud map into a trafficability cost map containing environmental terrain information; determining a local target point of motion planning in a local range according to a global guide path input by an external global planner; based on a trafficability cost map and a local target point, planning a rough optimal collision-free path on the cost map by using a mass point model of the quadruped robot and using an A * algorithm; performing trajectory optimization on a motion dynamics model of the quadruped robot by using the rough optimal collision-free path to generate an effective motion trajectory meeting the motion dynamics constraint of the robot; a rolling time domain control strategy is used, and a motion control instruction of the quadruped robot is calculated through the effective motion trail; and judging whether the robot ends the execution track to reach the target position, if not, returning to the step 1 to repeat the whole process until completion.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a motion planning method for a quadruped robot facing narrow environments. Background technique [0002] Compared with traditional wheeled robots, quadruped robots have stronger terrain adaptability and more flexible movement capabilities. They are suitable for operating in various complex environments and completing some challenging tasks, such as post-disaster search and rescue, interstellar exploration, etc. . Quadruped robots usually need to operate autonomously in structured indoor environments with narrow spaces and cluttered obstacles, or in unstructured outdoor environments with rough terrain and varied obstacles. Therefore, it is of great significance to plan a fast and safe motion trajectory online. [0003] The current trajectory planning method for wheeled robots abstracts the robot into a particle model, expands the obstacles in the environment, and furt...

AI Technical Summary

Problems solved by technology

The quadruped robot has 12 degrees of freedom in its whole body, and has very flexible omnidirectional movement ability and strong terrain adaptability. Its kinematics and dynamics model is very complex, and the movement path planned by using an oversimplified description method cannot guarantee the implementability. and safety, it is also unable to fully utilize the motion ability of quadruped robots

However, due to the dependence on accurate terrain modeling, real-time and robustness are poor

The invention patent of Chinese patent application number 201810827669.6 discloses a quadruped robot path planning method and system based on the improved A* algorithm. This method uses the improved A* search algorithm to plan a collision-free path in a narrow passage, but lacks consideration The special motion dynamics model only plans a two-dimensional discrete path, and cannot guarantee the feasibility and effectiveness of the path

[0005] Therefore, existing quadruped robot motion planning methods still have shortcomings

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