TOP-Nav：融合地形、障碍物与本体感知估计的腿式导航
TOP-Nav: Legged Navigation Integrating Terrain, Obstacle and Proprioception Estimation
AI总结：
TOP-Nav提出一种融合地形感知、避障和闭环本体感知的腿式导航框架，通过视觉与本体感知协同及在线修正，实现超越先验知识分布的开放世界导航。
摘要：
腿式导航通常在开放世界、越野和具有挑战性的环境中进行研究。在这些场景中，估计外部扰动需要对多模态信息进行复杂的综合。这凸显了现有工作主要集中于避障的一个重大局限。在本工作中，我们提出了TOP-Nav，一个新颖的腿式导航框架，它集成了一个综合路径规划器，具备地形感知、障碍物避免和闭环本体感知能力。TOP-Nav强调了视觉与本体感知在路径规划和运动规划中的协同作用。在路径规划器中，我们提出并集成了一种地形估计器，使机器人能够在具有更高可通行性的地形上选择航路点，同时有效避开障碍物。在运动规划层面，我们不仅实现了用于跟踪导航指令的运动控制器，还构建了一个本体感知顾问，为路径规划器提供运动评估。基于闭环运动反馈，我们对基于视觉的地形和障碍物估计进行在线修正。因此，TOP-Nav实现了开放世界导航，使机器人能够处理超出先验知识分布的地形或扰动，并克服视觉条件带来的限制。基于在仿真和真实环境中进行的大量实验，TOP-Nav在开放世界导航中展现出优于现有方法的性能。
英文摘要：
Legged navigation is typically examined within open-world, off-road, and challenging environments. In these scenarios, estimating external disturbances requires a complex synthesis of multi-modal information. This underlines a major limitation in existing works that primarily focus on avoiding obstacles. In this work, we propose TOP-Nav, a novel legged navigation framework that integrates a comprehensive path planner with Terrain awareness, Obstacle avoidance and close-loop Proprioception. TOP-Nav underscores the synergies between vision and proprioception in both path and motion planning. Within the path planner, we present and integrate a terrain estimator that enables the robot to select waypoints on terrains with higher traversability while effectively avoiding obstacles. In the motion planning level, we not only implement a locomotion controller to track the navigation commands, but also construct a proprioception advisor to provide motion evaluations for the path planner. Based on the close-loop motion feedback, we make online corrections for the vision-based terrain and obstacle estimations. Consequently, TOP-Nav achieves open-world navigation that the robot can handle terrains or disturbances beyond the distribution of prior knowledge and overcomes constraints imposed by visual conditions. Building upon extensive experiments conducted in both simulation and real-world environments, TOP-Nav demonstrates superior performance in open-world navigation compared to existing methods.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
