Realization of indoor and outdoor localization and navigation for quadruped robots

摘要

The quadruped robot has the advantages of flexible movement and large load because of the bionic leg structure. In order to improve their intelligence and autonomy in the complex environment, we build a highly integrated sensing system with lidar and an inertial measurement unit (IMU) on a quadruped robot. After the robot completes the construction of the map, point clouds are aligned using Normal Distribution Transform(NDT) registration to realize the localization of the robot. In the experimental part, we quantitatively tested the accuracy of outdoor localization and also completed indoor-outdoor navigation experiments for the quadruped robot. The experimental results validate the effectiveness of the perception system.