Experimental evaluation of autonomous map-based Spot navigation in confined environments

In this article, we address the task of experimental evaluation autonomous map-based navigation a Boston Dynamics Spot quadruped robot in confined environments equipped with developed autonomy package that incorporates 3D lidar, an IMU, and onboard computer. For that, propose integrated software hardware system is considered as enabler for localization risk-aware path planning, based on known map. The design itself modular perception capabilities required navigation. first utilized to build offline map environment by utilizing Google Cartographer simultaneous mapping (SLAM) package. During next step, online environmental information from sensors are provided computer localize means Cartographer. Finally, occupancy grid-based planner generates paths. extensive proposed performed corridors SubT environments.