Path planning for multimodal quadruped robots based on discrete sampling

被引：0
|
作者：
Sun S.-S. [1 ]
Feng C.-X. [1 ]
Zhang L. [2 ]
机构：
[1] College of Engineering Science, University of Science and Technology of China, Hefei
[2] College of Electrical Engineering and Automation, Anhui University, Hefei
来源：
Jilin Daxue Xuebao (Gongxueban)/Journal of Jilin University (Engineering and Technology Edition) | 2024年 / 54卷 / 04期
关键词：
artificial intelligence; discrete sampling; multimodal; path planning; quadratic programming; quadruped robot;
D O I：
10.13229/j.cnki.jdxbgxb.20240155
中图分类号：
学科分类号：
摘要：
Aiming at the challenges of unnecessary leap and significant undulations terrains with large steering angles in path planning of multimodal quadruped robots by Rapidly Exploring Random Tree algorithm，a path planning algorithm solution based on discrete sampling is proposed. The path is preprocessed to remove unnecessary leap and a solution set is obtained by discrete sampling and dynamic programming method. B-spline curves are used to define spline segments and quadratic programming method is used to optimize the final path. The simulation results show that paths planned by the proposed method exhibit an average reduction of 31.4% in the adjustment of robot's center of mass height，a 13.4% decrease in undulation of terrain，an 11.4% reduction in terrain slope angle and a 62.7% reduction in steering angle，which affirm the effectiveness of the proposed method. © 2024 Editorial Board of Jilin University. All rights reserved.
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页码：1120 / 1128
页数：8
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