论文标题
在动态环境中的两足机器人的实时导航
Real-Time Navigation for Bipedal Robots in Dynamic Environments
论文作者
论文摘要
移动机器人的流行一直在稳步增长，这些机器人越来越多地用于执行先前由人类工人完成的任务。为了使两足机器人看到相同的成功，需要开发出强大的自主导航系统，以实时执行并响应动态环境。这些系统可以分为三个阶段：感知，计划和控制。双皮亚机器人的整体导航框架必须成功整合自动导航问题的所有三个组件，以实现强大的现实导航。在本文中，我们为动态环境中的两足机器人提供了一个实时导航框架。所提出的系统解决了导航问题的所有组件：我们引入了基于深度的感知系统，用于障碍物检测，映射和本地化。开发了一个两阶段的规划师，以生成无碰撞的轨迹对未知和动态环境的鲁棒性。并在数字双足机器人的步行步态控制器上执行轨迹。通过一系列包含未知环境和动态障碍的模拟和硬件实验来验证导航框架。
The popularity of mobile robots has been steadily growing, with these robots being increasingly utilized to execute tasks previously completed by human workers. For bipedal robots to see this same success, robust autonomous navigation systems need to be developed that can execute in real-time and respond to dynamic environments. These systems can be divided into three stages: perception, planning, and control. A holistic navigation framework for bipedal robots must successfully integrate all three components of the autonomous navigation problem to enable robust real-world navigation. In this paper, we present a real-time navigation framework for bipedal robots in dynamic environments. The proposed system addresses all components of the navigation problem: We introduce a depth-based perception system for obstacle detection, mapping, and localization. A two-stage planner is developed to generate collision-free trajectories robust to unknown and dynamic environments. And execute trajectories on the Digit bipedal robot's walking gait controller. The navigation framework is validated through a series of simulation and hardware experiments that contain unknown environments and dynamic obstacles.
