论文标题
人形路径在粗糙的地形上使用遍布性评估
Humanoid Path Planning over Rough Terrain using Traversability Assessment
论文作者
论文摘要
我们提出了一个计划框架，专为人类的导航而在具有挑战性的地形上进行。该框架旨在使用2.5D高度图计划可遍历，光滑且无碰撞的路径。计划者由两个阶段组成。第一阶段由一个A*计划者组成，该计划的原因是使用地形特征进行遍历。提出了一种新颖的成本函数，该函数将双足步态直接编码到图形结构中，从而使自然路径能够牢固地构成遍历性的较小差距。第二阶段是一个优化框架，可以使路径平滑，同时进一步提高遍历性。计划器在模拟的各个地形上进行了测试，并与脚步计划者和平衡控制器结合使用，以创建一个集成的导航框架，该框架在BOSTON DYNALICS ATLAS ATLAS ATLAS机器人上进行了证明。
We present a planning framework designed for humanoid navigation over challenging terrain. This framework is designed to plan a traversable, smooth, and collision-free path using a 2.5D height map. The planner is comprised of two stages. The first stage consists of an A* planner which reasons about traversability using terrain features. A novel cost function is presented which encodes the bipedal gait directly into the graph structure, enabling natural paths that are robust to small gaps in traversability. The second stage is an optimization framework which smooths the path while further improving traversability. The planner is tested on a variety of terrains in simulation and is combined with a footstep planner and balance controller to create an integrated navigation framework, which is demonstrated on a DRC Boston Dynamics Atlas robot.
