CMP-IRRT*: A Perception-Assisted Height-Adaptive Planner for Quadruped Robots
Overview
CMP-IRRT* improves 2D planning for quadruped robots by using perception to adapt to obstacle heights, reducing path length and computational steps. Validated on benchmarks and a real robot, it outperforms classical and neural-guided baselines by up to 16.3% in traversable low obstacle scenarios with Unitree Go2 demonstration.
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“bypassing and traversal behaviors. Our code is publicly available at https://github.com/MingfanZhao/height-adaptive-planner.”
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- arXiv Robotics — research abstractsCMP-IRRT*: A Perception-Assisted Height-Adaptive Planner for Quadruped Robots
CMP-IRRT* improves 2D planning for quadruped robots by using perception to adapt to obstacle heights. It reduces path length and computational steps, with results validated on benchmarks and a real robot.
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