Autonomous navigation of underactuated bipedal robots in height-constrained environments

Li, Zhongyu; Zeng, Jun; Chen, Shuxiao; Sreenath, Koushil

doi:10.1177/02783649231187670

Cited by 13 publications

(1 citation statement)

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“…There are also approaches to the unstructured navigation problem which do not rely on artificial intelligence. One example of such a work is [12], where the authors use A* for calculating the global trajectory for their robotic platform, combined with a local planner and a reactive planner to ensure that the robot will keep track of the computed global trajectory.…”

Section: Related Workmentioning

confidence: 99%

A Vision Dynamics Learning Approach to Robotic Navigation in Unstructured Environments

Ginerica,

Zaha,

Floroian

et al. 2024

Robotics

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Autonomous legged navigation in unstructured environments is still an open problem which requires the ability of an intelligent agent to detect and react to potential obstacles found in its area. These obstacles may range from vehicles, pedestrians, or immovable objects in a structured environment, like in highway or city navigation, to unpredictable static and dynamic obstacles in the case of navigating in an unstructured environment, such as a forest road. The latter scenario is usually more difficult to handle, due to the higher unpredictability. In this paper, we propose a vision dynamics approach to the path planning and navigation problem for a quadruped robot, which navigates in an unstructured environment, more specifically on a forest road. Our vision dynamics approach is based on a recurrent neural network that uses an RGB-D sensor as its source of data, constructing sequences of previous depth sensor observations and predicting future observations over a finite time span. We compare our approach with other state-of-the-art methods in obstacle-driven path planning algorithms and perform ablation studies to analyze the impact of architectural changes to our model components, demonstrating that our approach achieves superior performance in terms of successfully generating collision-free trajectories for the intelligent agent.

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Section: Related Workmentioning

confidence: 99%