Slope-Informed Global Path Planning for Quadruped Robots.

Overview

This work describes the initial steps in developing a global path planner for a quadruped robot designed to traverse outdoor environments with uneven terrains. The ultimate goal is to generate paths that strike a balance between path length, tortuousness, energy efficiency, and safety when encountering slopes. The article details the system architecture and the implemented planning method, which incorporates slope constraints into a roadmap-based approach to generate paths with various characteristics. The algorithm has undergone extensive testing, both in simulation and with the Spot robot from Boston Dynamics. In both sets of experiments, noticeable differences were observed when adjusting the constraints on the robot’s maximum allowable inclination angles.

Authors:

• Ali Yousefi, ali.yousefi@edu.unige.it

• Zoe Betta, zoe.betta@edu.unige.it

• Giovanni Mottola, giovanni.mottola@unige.it

• Antonio Sgorbissa, antonio.sgorbissa@unige.it

• Carmine Tommaso Recchiuto, carmine.recchiuto@unige.it

©2024 RICE - DIBRIS, University of Genova

Contents

• Simulation Environment
• Real World
• Software Architucture
• Sequence Diagram
• Source Files and Scripts
• Usage
• System hypothesis and future work

Indices and tables

• Index

• Module Index

• Search Page