Autonomous navigation has played an increasingly significant role in quadruped robots system. However,  existing works on path planning used traditional search-based or sample-based methods which did not consider the kinodynamic characteristics of quadruped robots . And paths generated by these methods contain kinodynamically infeasible parts, which are difficult to track. In the present work, we introduced a complete navigation system considering the omnidirectional abilities of quadruped robots. First, we use kinodynamic path finding method to obtain smooth, dynamically feasible, time-optimal initial paths and added collision cost as a soft constraint to ensure safety. Then the trajectory is refined by  timed elastic band (TEB) method based on the omnidirectional model of quadruped robot . The superior performance of our work is demonstrated through simulated comparisons and by using our quadruped robot Jueying Mini in our experiments .
Autonomous navigation has played an increasingly significant role in quadruped robot system. However, most existing works on quadruped robots navigation using traditional search-based or sample-based methods do not consider the kinodynamic characteristics of quadruped robots , generating kinodynamically infeasible parts, that are difficult to track. In this paper, we introduce a complete navigation system considering the omnidirectional abilities of quadruped robots. First, we use kinodynamic path finding method to obtain smooth, dynamically feasible, time-optimal initial paths and add collision cost as a soft constraint to ensure safety. Then the trajectory is refined by the timed elastic band (TEB) method based on the omnidirectional model of quadruped robots . The superior performance of our work is demonstrated through simulating and real-world experiments on our quadruped robot Jueying Mini .
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