LiDAR Path Planning for Quadruped Robots
A terrain-aware navigation system that turns LiDAR point clouds into a map and helps a Unitree Go2 plan around obstacles, uneven ground, and moving people.
Projects
Go back to home- Built a LiDAR pipeline that turns 3D point clouds into a terrain map so a quadruped can route toward a goal.
- Developed a terrain-aware A* planner that avoids steep slopes, large steps, and unsafe diagonal shortcuts.
- Deployed the planner with ROS 2, using live LiDAR and odometry to update the map and replan as conditions change.
- Added Nav2 and predictive tracking so the Go2 can follow a moving person while avoiding obstacles.