Title: Obstacle avoidance trajectory control method for quadruped biomimetic robots based on embedded sensors

Authors: Yuanquan Zhong; Guanglin Wang

Addresses: Department of Computer Engineering, Anhui Wenda University of Information Engineering, Hefei, 231201, China ' Mechanical and Electrical Information Department, Anhui Press and Publication Vocational and Technical College, Hefei, 230601, China

Abstract: To improve the obstacle avoidance effect of robots, a four legged bionic robot obstacle avoidance trajectory control method based on embedded sensors is proposed. Firstly, an embedded sensor module is designed using CMOS sensors, ARM processors, and PCs to obtain accurate perception results of the robot's mobile environment. Secondly, the motion characteristics and dynamic behaviour of robots in actual mobile tasks are analysed. Then, the bilinear interpolation method is used to find a safe moving target point, and the obstacle avoidance safety distance is calculated using the dynamic window method. Finally, constrained by the safe distance, the obstacle avoidance path is planned based on the grid method, and the robot's angular velocity and linear velocity are adjusted to adjust the direction of travel. The experiment shows that the obstacle avoidance effect of this method is good, and the control response time is between 3.10 s and 3.90 s.

Keywords: quadruped biomimetic robot; embedded sensors; dynamic analysis; obstacle avoidance trajectory control.

DOI: 10.1504/IJMIC.2024.142276

International Journal of Modelling, Identification and Control, 2024 Vol.45 No.2/3, pp.145 - 153

Received: 23 Oct 2023
Accepted: 29 Feb 2024
Published online: 16 Oct 2024 *

Full-text access for editors Full-text access for subscribers Purchase this article Comment on this article