GPF-BG: A Hierarchical Vision-Based Planning Framework for Safe Quadrupedal Navigation.
2023 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, ICRA（2023）
关键词
actual quadrupedal robot model,benchmarking configurations test safe navigation performance,BG-based trajectory synthesis,Bézier curves,Bézier gap,gap analysis extension,gap-based local planner,global path follower navigation system,GPF-BG,hierarchical vision-based planning framework,idealized quadrupedal motion model,oscillatory internal body motion,point-mass robots,safe quadrupedal navigation,stabilized perception space
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