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arXiv · 2305.02938

Off-Road Navigation of Legged Robots Using Linear Transfer Operators

Joseph Moyalan·Andrew Zheng·Sriram S. K. S Narayanan·Umesh Vaidya
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Abstract

This paper presents the implementation of off-road navigation on legged robots using convex optimization through linear transfer operators. Given a traversability measure that captures the off-road environment, we lift the navigation problem into the density space using the Perron-Frobenius (P-F) operator. This allows the problem formulation to be represented as a convex optimization. Due to the operator acting on an infinite-dimensional density space, we use data collected from the terrain to get a finite-dimension approximation of the convex optimization. Results of the optimal trajectory for off-road navigation are compared with a standard iterative planner, where we show how our convex optimization generates a more traversable path for the legged robot compared to the suboptimal iterative planner.

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Joseph Moyalan, Andrew Zheng, Sriram S. K. S Narayanan, Umesh Vaidya. 2023-05-04. Off-Road Navigation of Legged Robots Using Linear Transfer Operators. https://arxiv.org/abs/2305.02938

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