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Autonomous navigation has played an increasingly significant role inquadruped robot system. However, most existing works on quadruped robotsnavigation using traditional search-based or sample-based methods do notconsider the kinodynamic characteristics of quadruped robots, generatingkinodynamically infeasible parts, that are difficult to track. In this paper,we introduce a complete navigation system considering the omnidirectionalabilities of quadruped robots. First, we use kinodynamic path finding method toobtain smooth, dynamically feasible, time-optimal initial paths and addcollision cost as a soft constraint to ensure safety. Then the trajectory isrefined by the timed elastic band (TEB) method based on the omnidirectionalmodel of quadruped robots. The superior performance of our work is demonstratedthrough simulating and real-world experiments on our quadruped robot JueyingMini.

Search-based Kinodynamic Motion Planning for Omnidirectional Quadruped Robots