论文标题
基于搜索的动力动力运动计划，用于全向四倍的机器人
Search-based Kinodynamic Motion Planning for Omnidirectional Quadruped Robots
论文作者
论文摘要
自主导航在四倍的机器人系统中发挥了越来越重要的作用。但是，使用基于传统的基于搜索的方法或基于样本的方法在四倍机器人导航上的大多数现有作品都不考虑四倍的机器人的动力动力学特性，而这些特征会产生难以跟踪的动力学上不可行的零件。在本文中，我们介绍了一个完整的导航系统，考虑到四倍的机器人的全向能力。首先，我们使用动力学路径查找方法来获得光滑，动态可行的，时间优化的初始路径，并添加碰撞成本作为软限制以确保安全性。然后，基于四足机器人的全向模型的定时弹性频带（TEB）方法来完善轨迹。通过在我们四倍的机器人Jueying Mini上进行模拟和现实的实验来证明我们的工作的出色表现。
Autonomous navigation has played an increasingly significant role in quadruped robot system. However, most existing works on quadruped robots navigation using traditional search-based or sample-based methods do not consider the kinodynamic characteristics of quadruped robots, generating kinodynamically infeasible parts, that are difficult to track. In this paper, we introduce a complete navigation system considering the omnidirectional abilities of quadruped robots. First, we use kinodynamic path finding method to obtain smooth, dynamically feasible, time-optimal initial paths and add collision cost as a soft constraint to ensure safety. Then the trajectory is refined by the timed elastic band (TEB) method based on the omnidirectional model of quadruped robots. The superior performance of our work is demonstrated through simulating and real-world experiments on our quadruped robot Jueying Mini.
