四足机器人动静态路径规划方法研究

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中图分类号：TP242.6 文献标识码：A文章编号：2096-4706（2025）24-0192-07

Abstract： Path planning technology is an important research direction in the field of quadruped robot navigation. However，theexistingtraditionalpathplaningmethods stillhavesomelimitations inpracticalaplications.Inordertosolve theseproblems，this paper proposes aquadruped robot path planning algorithm suitablefor dynamic and static environments： integrating Mid-360LiDAR，NUCnavigationcontrolerandswitch tobuildaquadruped robot autonomous navigationhardware system.Thelaserpointclouddata iscollctedand iput intotheFaster-LIOalgorithmtoprovide positioning informationforthe autonomousnavigation of thequadruped robot. The A* algorithmiscombinedwiththepath planningalgorithmbasedonobstacle endpoint guidancetogenerate thedesiredpathofautonomousobstacleavoidance navigation，andthemotioncommandissent down throughLCMcommunicationtocontrolthequadrupedrobot motion.Finaly，thepath planning anddynamicobstacle avoidance functionofthequadruped robotfromthe starting pointtotheend pointarerealized.Thesimulationand physical prototypeexperiments show thatthequadrupedrobotcanautonomouslynavigate tothetargetpointintheoutdoordynamic and static environment，and the success rate is more than 85% ，which verifies the feasibility and effectivenessof the system.

Keywords： path planning; quadruped robot; dynamic and static environment; autonomous navigation

0 引言

随着传感技术、运动控制技术以及路径规划与决策技术的发展，四足机器人因采用多关节腿部结构，具有适应复杂地形、灵活调整步伐和姿态的特点，已被应用于物流配送、家庭服务、工业巡检等多个领域。（剩余11799字）