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RRT path planning and morphological segmentation based navigation for a Tetrapod Robot

Abstract:

This article will establish the physical design of a tetrapod robot, highlighting its own characteristics of low-level three-dimensional movement to move from one point to another. The navigation system was also examined in environments not defined from a top-down perspective, making the analysis and processing of the images with the purpose of avoiding collisions between the robot and static obstacles, and using probabilistic techniques and partial information on the environment, RRT generate paths that are less artificial.