ViT-A*: Vision TransformerとA*による脚式ロボットの経路計画
ViT-A*: Legged Robot Path Planning using Vision Transformer A*
2Dマップと障害物情報を入力に、Vision Transformerで前処理したニューラルネットワークで四足ロボットの大域的経路を生成する手法を提案し、SpotとGo1で有効性を示した。
著者: Jianwei Liu, Shirui Lyu, Denis Hadjivelichkov, Valerio Modugno, Dimitrios Kanoulas
分類: cs.RO
原文アブストラクト
Legged robots, particularly quadrupeds, offer promising navigation capabilities, especially in scenarios requiring traversal over diverse terrains and obstacle avoidance. This paper addresses the challenge of enabling legged robots to navigate complex environments effectively through the integration of data-driven path-planning methods. We propose an approach that utilizes differentiable planners, allowing the learning of end-to-end global plans via a neural network for commanding quadruped robots. The approach leverages 2D maps and obstacle specifications as inputs to generate a global path. To enhance the functionality of the developed neural network-based path planner, we use Vision Transformers (ViT) for map pre-processing, to enable the effective handling of larger maps. Experimental evaluations on two real robotic quadrupeds (Boston Dynamics Spot and Unitree Go1) demonstrate the effectiveness and versatility of the proposed approach in generating reliable path plans.
