The invention provides a navigation obstacle avoidance and stair climbing method and system for a quadruped robot. The method comprises the steps that S1, a preset unstructured environment scene model of the quadruped robot is established; s2, the airborne binocular camera obtains and analyzes surrounding environment information, and a global map containing semantic information and a high-precision local elevation map with the robot as the center are established; s3, the quadruped robot realizes autonomous navigation obstacle avoidance according to the global map and an A * path planning algorithm; and S4, the quadruped robot is trained according to the asymmetric Actor-Critic network, and plans a landing point in combination with the global map and the local elevation map, so that motion control and stair climbing of the quadruped robot are realized. According to the method, the problems of instability, falling and the like possibly occurring when the quadruped robot moves in a non-structural environment are avoided, the potential safety hazard of movement of the quadruped robot in a complex terrain is effectively solved, the movement ability of the quadruped robot is improved, and the safety and efficiency of specific task execution are ensured.

    本发明提供了一种四足机器人导航避障与攀爬楼梯方法及系统,包括:步骤S1:建立四足机器人预设非结构化环境场景模型;步骤S2:机载双目相机获取并分析周围环境信息,建立包含语义信息的全局地图及以机器人为中心的高精度局部高程地图;步骤S3:四足机器人根据全局地图和A*路径规划算法实现四足机器人自主导航避障;步骤S4:四足机器人根据非对称Actor‑Critic网络训练,并结合全局地图和局部高程地图规划落足点,从而实现四足机器人运动控制和攀爬楼梯。本发明避免了四足机器人在非结构环境中运动可能出现的失稳、摔倒等问题,有效解决了四足机器人复杂地形下运动的安全隐患,提高了四足机器人的运动能力,确保了特定任务执行的安全及效率。


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    Title :

    Quadruped robot navigation obstacle avoidance and stair climbing method and system


    Additional title:

    四足机器人导航避障与攀爬楼梯方法及系统


    Contributors:
    GAO HONGBO (author) / YAN CHI (author) / JIANG LEI (author) / WANG XINMIAO (author) / LIU YUFEI (author) / TANG CHAO (author)

    Publication date :

    2023-12-19


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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