狭小检测空间下多传感融合四足机器人自主导航策略OACSTPCD

For the demand of robot inspection tasks in confined space,this paper proposes an autonomous navigation strategy for small quadruped robots with multi-sensor timely fusion.Inertial measurement units and laser range sensors are used to obtain the robot's position by timely Kalman fusion filtering,and model predictive control is introduced to achieve high-precision robust tracking of the desired path to complete the robot's autonomous navigation goal in a confined space.The experimental verification shows that the actual path of the robot travels well with the desired path,and the autonomous navigation task of the small quadruped robot in the confined space can be achieved based on this strategy.