Quadruped robots demonstrate robust and agile movements in various terrains; however, their navigation autonomy is still insufficient. One of the challenges is that the motion capabilities of the quadruped robot are anisotropic along different directions, which significantly affects the safety of quadruped robot navigation. This paper proposes a navigation framework that takes into account the motion anisotropy of quadruped robots including kinodynamic trajectory generation, nonlinear trajectory optimization, and nonlinear model predictive control. In simulation and real robot tests, we demonstrate that our motion-anisotropy-aware navigation framework could: (1) generate more efficient trajectories and realize more agile quadruped navigation; (2) significantly improve the navigation safety in challenging scenarios. The implementation is realized as an open-source package at https://github.com/ZWT006/agile_navigation.

翻译：四足机器人在多种地形上展现出稳健且敏捷的运动能力，但其导航自主性仍显不足。挑战之一在于四足机器人沿不同方向的运动能力呈现各向异性，这显著影响了导航安全性。本文提出一种考虑四足机器人运动各向异性的导航框架，涵盖动动力学轨迹生成、非线性轨迹优化和非线性模型预测控制。仿真与实物机器人测试表明，我们的运动各向异性感知导航框架能够：（1）生成更高效的轨迹并实现更敏捷的四足导航；（2）在挑战性场景中显著提升导航安全性。相关实现已作为开源软件包发布于 https://github.com/ZWT006/agile_navigation。