A method and apparatus for intelligent obstacle avoidance path planning for quadruped robots

CN121977565BActive Publication Date: 2026-06-30HUARONG TECH CO LTD
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
HUARONG TECH CO LTD
Filing Date
2026-01-23
Publication Date
2026-06-30

AI Technical Summary

Technical Problem

When quadruped robots encounter complex local obstacles in unstructured environments, conflicts arise between the locally planned routes and the global paths, resulting in poor rationality of the planned paths.

Method used

By acquiring the current position and global planning path of the quadruped robot, direct planning path and sequential planning path are constructed, path loss feature value and velocity loss feature value are quantified, the optimal local planning path is selected, and path optimization is performed by combining sensor data and path planning algorithm.

Benefits of technology

It significantly improves the motion efficiency of quadruped robots to reach target path nodes, reduces overall path cost and time cost, and makes path planning results more reasonable.

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Abstract

This invention relates to the field of path planning technology, specifically to an intelligent path planning method and apparatus for obstacle avoidance of a quadruped robot. The method includes: acquiring the current position and global planned path of the quadruped robot; obtaining a direct planned path and a sequential planned path based on the positional distribution between the current position and future path nodes and path cost constraints; obtaining a path loss characteristic value based on the path cost difference between the direct and sequential planned paths; obtaining a speed loss characteristic value based on the distance between each local position and obstacle on the direct and sequential planned paths, and the speed constraints of the quadruped robot on the direct and sequential planned paths, combined with the turning speed loss of the quadruped robot on the sequential planned path; and filtering the direct and sequential planned paths to obtain a local planned path. The path planning results of this invention for the quadruped robot are more reasonable.
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