VENRiR: Vision Enhance for Navigating 4-legged Robot in Rough Terrain

Pudchuen, Noppadol; Deelertpaiboon, Chirdpong; Jitviriya, Wisanu; Phunopas, Amornpun

doi:10.23919/sice48898.2020.9240424

Cited by 1 publication

(1 citation statement)

References 28 publications

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“…They applied the SLAM algorithm based on the unscented Kalman filter and realized accurate estimates of the robot trajectory and the locations of surrounding landmarks simultaneously. In 2020, Pudchuen et al 11 proposed vision-based control to enhance navigation of the quadruped robot to deal with rough or uneven terrain rather than employing force sensors. By using visual odometry, the robot can localize its position and orientation accurately.…”

Section: Introductionmentioning

confidence: 99%

A quadruped robot obstacle avoidance and personnel following strategy based on ultra-wideband and three-dimensional laser radar

Liang

et al. 2022

International Journal of Advanced Robotic Systems

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To improve the human–computer interaction ability and environmental adaptability of the quadruped robot, especially the ability of the quadruped robot to follow people and avoid obstacles. In this article, the fusion of ultra-wideband positioning technology and three-dimensional laser radar is applied to a quadruped robot. The core is to scan the surrounding obstacle information through three-dimensional laser radar, locate the position of both the quadruped robot and the target person, complete the obstacle avoidance, and follow the task of the quadruped robot through an efficient path planning algorithm. To meet the high-precision positioning requirements, the ultra-wideband positioning system is used in this article. When calculating the coordinates, we propose a three-sided weighted least squares positioning algorithm. To improve the efficiency and stability of the quadruped robot in path search, based on the A* algorithm, this article improves and proposes an incremental A* algorithm based on a sliding window. The feasibility and effectiveness of our method are verified by computer simulation analysis and real experiments of the quadruped robot.

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Section: Introductionmentioning

confidence: 99%

A quadruped robot obstacle avoidance and personnel following strategy based on ultra-wideband and three-dimensional laser radar

Liang

et al. 2022

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

show abstract

VENRiR: Vision Enhance for Navigating 4-legged Robot in Rough Terrain

Cited by 1 publication

References 28 publications

A quadruped robot obstacle avoidance and personnel following strategy based on ultra-wideband and three-dimensional laser radar

A quadruped robot obstacle avoidance and personnel following strategy based on ultra-wideband and three-dimensional laser radar

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