外观
论文arXiv 2610.1723216 天前
通过时空安全走廊实现动态非凸环境中的基于 LiDAR 的类人机器人导航
原文链接：LiDAR-based Humanoid Navigation in Dynamic, Non-Convex Environments via Spatio-Temporal Safe Corridors（arXiv 2610.17232 · 发布日期：2026-10-12）
LiDAR-based Humanoid Navigation in Dynamic, Non-Convex Environments via Spatio-Temporal Safe Corridors
该框架由 LiDAR 粒子表示构建时空安全走廊，并结合 LIP 规划与 WBC，在 Digit 仿真中验证动态非凸环境导航。
核心要点
- 面向动态非凸环境，需紧密耦合机载感知、落足规划与动态运动控制。
- 方法直接从 LiDAR 粒子表示构建时空安全走廊，避免受限几何假设。
- 框架结合 LIP 规划和 WBC，使机器人可绕行并进入移动非凸结构内部。
- Digit 仿真成功率为96%，消融显示迭代多面体生成优于单次迭代基线。
验证范围与局限：验证范围为 Digit 类人机器人仿真，在24×24 m^2场地中绕行并进入移动非凸障碍。
英文摘要 (Abstract)
Navigating humanoid robots through dynamic, non-convex environments requires tightly coupling onboard perception with footstep planning and dynamic locomotion control. Existing methods frequently discard complex free space through simplified convex obstacle bounds and fail to account for real-time dynamic occupancy predictions. This paper presents a real-time framework for humanoid navigation that directly constructs spatio-temporal safe corridors from LiDAR-based particle representations and couples them with Linear Inverted Pendulum (LIP)-based planning and Whole Body Control (WBC) to enable navigation around and within moving non-convex structures without restrictive geometric assumptions. Simulations on the Digit humanoid yield a 96% success rate in navigating around and inside moving non-convex obstacles in a 24 by 24 m^2 arena. Ablation studies confirm that the proposed iterative polytope generation significantly outperforms single-iteration baselines in narrow corridors, while evaluations demonstrate robustness to clutter, sensor noise, control delays, and force perturbations.
作者：Shubham S. Kumbhar, Panagiotis Artemiadis
来源
本页事实对应的公开页面，以原文为准。