Autonomous navigation strategy in quadruped robots for uneven terrain using 2D laser sensor

  • Vagner Dos Santos Da Silva SENAI CIMATEC
  • Marcella Giovanna S. Dos Santos SENAI CIMATEC
  • Miguel Felipe Nery Vieira SENAI CIMATEC
  • Victor Santos Matos SENAI CIMATEC
  • Ícaro Nascimento Queiroz SENAI CIMATEC
  • Rebeca Tourinho Lima SENAI CIMATEC


Quadruped robots are designed with four legs to enhance stability and maneuverability. Recent advancements in machine learning, computer vision, and control algorithms have enabled these robots to perform complex tasks with increased precision and efficiency. They have proven effective in exploration, military operations, agriculture, search and rescue missions, and can assist in dangerous environments while carrying heavy payloads. This paper aims to address the issue of autonomous navigation in quadruped robots equipped with a 2D laser sensor, which performs well in regular environments but struggles when dealing with uneven terrain such as slopes. To overcome this limitation, a monitoring strategy is implemented to make the 2D navigation independent of the robot’s movement on different terrains.
Palavras-chave: Quadruped robots, autonomous navigation, simulation, path planning
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SILVA, Vagner Dos Santos Da; SANTOS, Marcella Giovanna S. Dos; VIEIRA, Miguel Felipe Nery; MATOS, Victor Santos; QUEIROZ, Ícaro Nascimento; LIMA, Rebeca Tourinho. Autonomous navigation strategy in quadruped robots for uneven terrain using 2D laser sensor. In: SIMPÓSIO BRASILEIRO DE ROBÓTICA E SIMPÓSIO LATINO AMERICANO DE ROBÓTICA (SBR/LARS), 15. , 2023, Salvador/BA. Anais [...]. Porto Alegre: Sociedade Brasileira de Computação, 2023 . p. 290-295.