A Hybrid DWA and Multi-Sensors Local Path Planning Approach for Hexapod Robot

Most robot local path planning approaches avoid collision with obstacles when encountering them. Given the inherent characteristics of the hexapod robot, namely its multi-legged configuration and exceptional stability, pressure sensors are installed onto its feet, combined with LiDAR and camera to design a hybrid dynamic window approach (DWA) and multi-sensors local path planning approach. This local path planning approach employs DWA when no obstacles are encountered. When the obstacles ahead are identified as pushable, they can be pushed away. In relatively narrow environments where movable obstacles are encountered, this approach can significantly reduce the time required for the hexapod robot to reach its target point, thus minimizing power consumption.