GPF-BG: A Hierarchical Vision-Based Planning Framework for Safe Quadrupedal Navigation
Shiyu Feng,Ziyi Zhou,Justin S. Smith,Max Asselmeier,Ye Zhao,Patricio A. Vela,Shiyu Feng,Ziyi Zhou,Justin S. Smith,Max Asselmeier,Ye Zhao,Patricio A. Vela
Safe quadrupedal navigation through unknown environments is a challenging problem. This paper proposes a hierarchical vision-based planning framework (GPF-BG) integrating our previous Global Path Follower (GPF) navigation system and a gap-based local planner using Bézier curves, so called $B$ézier Gap (BG). This BG-based trajectory synthesis can generate smooth trajectories and guarantee safety fo...
