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四足机器人导航技能

用于配置和开发四足机器人的导航系统

何时使用

当需要以下帮助时使用此技能：

• 配置 Navigation2
• 实现路径规划
• 设置动态避障
• 复杂地形导航

快速参考

Navigation2 配置

nav2_params:
  planner_server:
    plugin: smac_planner/SmacPlanner
    tolerance: 0.1
    
  controller_server:
    plugin: dwb_controller/DWBLocalPlanner
    max_vel_x: 0.5
    max_vel_theta: 1.0

全局路径规划

规划器

配置

ros2 launch nav2_planner planner.launch.py

局部路径规划

DWB

dwb_controller:
  plugin: dwb_controller/DWBLocalPlanner
  
  # 速度限制
  max_vel_x: 0.5
  max_vel_theta: 1.0
  
  # 加速度限制
  acc_lim_x: 0.5
  acc_lim_theta: 1.0

TEB

teb_local_planner:
  plugin: teb_local_planner/TebLocalPlannerROS
  
  # 足式特殊参数
  footprint_margin: 0.3
  max_vel_x: 0.5
  max_vel_x_backwards: 0.2

避障

静态避障

obstacle_layer:
  enabled: true
  voxel_plugin: voxel_layer/VoxelLayer
  
  obstacle_range: 3.0
  raytrace_range: 3.5

动态避障

class DynamicObstacleAvoidance:
    def process(self, obstacles, robot_pose):
        # 检测动态障碍物速度
        velocities = self.estimate_velocities(obstacles)
        
        # 预测障碍物轨迹
        trajectories = self.predict_trajectories(
            obstacles, velocities)
        
        # 规划避障路径
        return self.plan_avoidance_path(
            robot_pose, trajectories)

地形适应导航

地形感知导航

class TerrainAdaptiveNavigation:
    def __init__(self):
        self.terrain_classifier = TerrainClassifier()
        self.step_planner = StepPlanner()
        
    def navigate(self, goal, terrain_data):
        # 分类地形
        terrain_type = self.terrain_classifier.classify(terrain_data)
        
        # 调整导航参数
        params = self.adapt_params(terrain_type)
        
        # 特殊路径规划
        if terrain_type == 'stairs':
            return self.plan_stair_path(goal, params)
        elif terrain_type == 'rough':
            return self.plan_rough_terrain_path(goal, params)
        else:
            return self.plan_standard_path(goal, params)

楼梯导航

stairs_navigation:
  max_step_height: 0.15
  max_step_length: 0.25
  
  body_height:
    up: 0.35
    down: 0.15
    
  velocity:
    step_duration: 0.6

导航启动

启动文件

# 完整导航启动
ros2 launch quadruped_navigation navigation.launch.py

# 分别启动
ros2 launch nav2_bringup navigation_launch.py
ros2 launch slam_toolbox online_async_launch.py

参数文件

# quadruped_nav.yaml
amcl:
  ros__parameters:
    alpha1: 0.1
    alpha2: 0.1
    alpha3: 0.2
    alpha4: 0.2
    alpha5: 0.1
    
controller_server:
  ros__parameters:
    FollowPath:
      plugin: dwb_controller/DWBLocalPlanner

常用功能包

相关文档

• Navigation2文档
• DWB控制器
• TEB规划器