A quadruped robot obstacle avoidance and personnel following strategy based on ultra-wideband and three-dimensional laser radar
To improve the human–computer interaction ability and environmental adaptability of the quadruped robot, especially the ability of the quadruped robot to follow people and avoid obstacles. In this article, the fusion of ultra-wideband positioning technology and three-dimensional laser radar is appli...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2022-07-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/17298806221114705 |
| _version_ | 1818017434957774848 |
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| author | Zhi Li Bin Li Qixing Liang Weilong Liu Landong Hou Xuewen Rong |
| author_facet | Zhi Li Bin Li Qixing Liang Weilong Liu Landong Hou Xuewen Rong |
| author_sort | Zhi Li |
| collection | DOAJ |
| description | To improve the human–computer interaction ability and environmental adaptability of the quadruped robot, especially the ability of the quadruped robot to follow people and avoid obstacles. In this article, the fusion of ultra-wideband positioning technology and three-dimensional laser radar is applied to a quadruped robot. The core is to scan the surrounding obstacle information through three-dimensional laser radar, locate the position of both the quadruped robot and the target person, complete the obstacle avoidance, and follow the task of the quadruped robot through an efficient path planning algorithm. To meet the high-precision positioning requirements, the ultra-wideband positioning system is used in this article. When calculating the coordinates, we propose a three-sided weighted least squares positioning algorithm. To improve the efficiency and stability of the quadruped robot in path search, based on the A* algorithm, this article improves and proposes an incremental A* algorithm based on a sliding window. The feasibility and effectiveness of our method are verified by computer simulation analysis and real experiments of the quadruped robot. |
| first_indexed | 2024-04-14T07:27:06Z |
| format | Article |
| id | doaj.art-18fa062e02b34e7da860c13efb43b2d6 |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-04-14T07:27:06Z |
| publishDate | 2022-07-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-18fa062e02b34e7da860c13efb43b2d62022-12-22T02:05:59ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142022-07-011910.1177/17298806221114705A quadruped robot obstacle avoidance and personnel following strategy based on ultra-wideband and three-dimensional laser radarZhi Li0Bin Li1Qixing Liang2Weilong Liu3Landong Hou4Xuewen Rong5 School of Electrical Engineering and Automation, Qilu University of Technology (Shandong Academy of Sciences), Jinan, China School of Mathematics and Statistics, Qilu University of Technology (Shandong Academy of Sciences), Jinan, China School of Mathematics and Statistics, Qilu University of Technology (Shandong Academy of Sciences), Jinan, China School of Mathematics and Statistics, Qilu University of Technology (Shandong Academy of Sciences), Jinan, China School of Electrical Engineering and Automation, Qilu University of Technology (Shandong Academy of Sciences), Jinan, China School of Control Science and Engineering, Shandong University, Jinan, ChinaTo improve the human–computer interaction ability and environmental adaptability of the quadruped robot, especially the ability of the quadruped robot to follow people and avoid obstacles. In this article, the fusion of ultra-wideband positioning technology and three-dimensional laser radar is applied to a quadruped robot. The core is to scan the surrounding obstacle information through three-dimensional laser radar, locate the position of both the quadruped robot and the target person, complete the obstacle avoidance, and follow the task of the quadruped robot through an efficient path planning algorithm. To meet the high-precision positioning requirements, the ultra-wideband positioning system is used in this article. When calculating the coordinates, we propose a three-sided weighted least squares positioning algorithm. To improve the efficiency and stability of the quadruped robot in path search, based on the A* algorithm, this article improves and proposes an incremental A* algorithm based on a sliding window. The feasibility and effectiveness of our method are verified by computer simulation analysis and real experiments of the quadruped robot.https://doi.org/10.1177/17298806221114705 |
| spellingShingle | Zhi Li Bin Li Qixing Liang Weilong Liu Landong Hou Xuewen Rong A quadruped robot obstacle avoidance and personnel following strategy based on ultra-wideband and three-dimensional laser radar International Journal of Advanced Robotic Systems |
| title | A quadruped robot obstacle avoidance and personnel following strategy based on ultra-wideband and three-dimensional laser radar |
| title_full | A quadruped robot obstacle avoidance and personnel following strategy based on ultra-wideband and three-dimensional laser radar |
| title_fullStr | A quadruped robot obstacle avoidance and personnel following strategy based on ultra-wideband and three-dimensional laser radar |
| title_full_unstemmed | A quadruped robot obstacle avoidance and personnel following strategy based on ultra-wideband and three-dimensional laser radar |
| title_short | A quadruped robot obstacle avoidance and personnel following strategy based on ultra-wideband and three-dimensional laser radar |
| title_sort | quadruped robot obstacle avoidance and personnel following strategy based on ultra wideband and three dimensional laser radar |
| url | https://doi.org/10.1177/17298806221114705 |
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