Visual Based Autonomous Navigation for Legged Robots

摘要

This article will create the design and mathematical analysis of a four legged robot, underlining some of characteristics of the circuitry and physical design that it needs to have for being able to move from one point to another, focusing on the investigation of the kinematics of the quadruped robot using the Denavit Harteberg matrix, the analysis and processing of the images for the obstacle evasion with the purpose of avoiding collisions between the quadruped robot and static obstacles that have a defined form within the environment in which the robot is located. In addition, an Inertial Measurement Unit (IMU) was used with the implementation of the Kalman filter to detect the orientation estimation that the quadruped is in the plane of movement, this IMU called 9x3 is the same used in the MoMoPa3 project. For navigation a motion planning algorithm was implemented that is one of the main components of the artificial intelligence algorithms used to make the best route decisions. Using probabilistic techniques and partial information on the environment, RRT generates paths that are less artificial.