Research on the autonomous system of the quadruped robot with a manipulator to realize leader-following,object recognition,navigation and operation

作     者：Jiamin Guo Hui Chai Yibin Li Qin Zhang Zhiying Wang Jialin Zhang Qifan Zhang Haoning Zhao 

作者机构：School of Control Science and EngineeringShandong UniversityJinanChina Engineering Research Center of Intelligent Unmanned SystemMinistry of EducationShandong UniversityJinanChina School of Electrical EngineeringUniversity of JinanJinanChina 

出 版 物：《IET Cyber-Systems and Robotics》 (智能系统与机器人（英文）)

年 卷 期：2022年第4卷第4期

页      面：376-388页

核心收录：

学科分类：08[工学] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 081102[工学-检测技术与自动化装置] 

基　　金：National Natural Science Foundation of China,Grant/Award Numbers:61973135,62073191,91948201 Shandong Key R&D Program,Grant/Award Number:2019JZZY020317 Natural Science Foundation of Shandong Province,Grant/Award Number:ZR2022MF296 

主　　题：environment awareness system leader-following navigation quadruped robot 

摘      要：A systematic solution is developed to improve the autonomous capability of the quadruped robot with a manipulator,such as navigation,recognition and *** developed system adopts novel software,hardware system and system architecture,including a specially designed environment awareness system(EAS).Based on the camera and LiDAR on the EAS,the recognition of multiple common targets,such as the leader,door,window and bag,is *** terms of navigation,a location method is built,that combines the laser odometer and global positioning system.A mapping and path planning module is designed by the Robot-centric Elevation Mapping algorithm and the rapidly exploring rand tree *** operation,a real-time target grasp detection system is proposed based on the You Only Look Once v5 algorithm to improve the success rate of *** whole system is integrated based on the task relevance scheduling strategy to reduce the computational *** tightly integrated system and the subsystems are evaluated by conducting simulations and physical experiments in robot recognition,navigation and *** experiments show that the proposed framework can better achieve the autonomous navigation and operation of the quadruped robot with a ***,the proposed framework is still effective when facing dynamic *** addition,the system can be easily extended to other forms of mobile robot.