Rough Terrain Navigation for Legged Robots using Reachability Planning and Template Learning
Lorenz Wellhausen,Marco Hutter,Lorenz Wellhausen,Marco Hutter
Navigation planning for legged robots has distinct challenges compared to wheeled and tracked systems due to the ability to lift legs off the ground and step over obstacles. While most navigation planners assume a fixed traversability value for a single terrain patch, we overcome this limitation by proposing a reachability-based navigation planner for legged robots. We approximate the robot morpho...