四足机器人在崎岖路面的路径规划研究

摘要

Considering the problem of the quadruped walking on the known rough terrain, we use A* algorithm, regarding the lowest energy as target function,to solve the global path planning,and apply a second - order system model and four optimization indexes to compare the selected routines, in order to choose a better one. The effectively of the proposed method could be well verified by the simulations.%对于四足机器人过崎岖路面的问题,利用A*算法,以最低代价为目标函数得到较优备选路径,然后利用1个二阶系统结合4个优化指标,对备选路径进行比较,选择出1条较优路径.仿真实验结果证明了此方法的有效性.