Multi-sensor Fusion-based Perception and Navigation Framework for Quadruped Robots in Complex Environments*

摘要

At present, the realization of autonomous navigation in unstructured complex environment faces many challenges, among which the limitations of terrain modeling and understanding, low path efficiency and poor safety restrict the application development of mobile robots in this environment. To this end, for the autonomous operation of the robot in complex environment, with the quadruped robot as the research object, in order to improve the understanding of the robot, based on the multimodal perception of the mobile robot autonomous navigation framework, mainly including data acquisition module, autonomous positioning module, crossing analysis module and path planning module, build the quadruped robot autonomous navigation system, and verify the effectiveness of the whole navigation framework through simulation and real environment.