四足机器人实现复杂环境自主探索，软硬件一体化设计。
GuangMing-Explorer: A Four-Legged Robot Platform for Autonomous Exploration in General Environments
- 四足机器人集成感知、规划、控制与运动执行系统。
- 实测验证其在多样环境中的高效自主探索能力。
- 适合智能巡检、极端环境探测等实际场景应用。
自主探索是融合感知、规划、控制与运动执行的基础能力，在室内目标搜索、极端环境测绘、资源勘探等领域具有关键作用。尽管各组件取得显著进展，但软硬件一体的完整自主探索系统仍较稀缺。本文提出 GuangMing-Explorer，一个面向多样化环境的全集成自主探索平台，涵盖硬件设计、软件架构、算法部署与实验配置。大量真实场景实验表明，该平台在复杂非结构化环境中具备高效可靠的自主探索性能，展现出良好的实用部署潜力。
原文摘要 · Abstract (English)
Autonomous exploration is a fundamental capability that tightly integrates perception, planning, control, and motion execution. It plays a critical role in a wide range of applications, including indoor target search, mapping of extreme environments, resource exploration, etc. Despite significant progress in individual components, a holistic and practical description of a completely autonomous exploration system, encompassing both hardware and software, remains scarce. In this paper, we present GuangMing-Explorer, a fully integrated autonomous exploration platform designed for robust operation across diverse environments. We provide a comprehensive overview of the system architecture, including hardware design, software stack, algorithm deployment, and experimental configuration. Extensive real-world experiments demonstrate the platform's effectiveness and efficiency in executing autonomous exploration tasks, highlighting its potential for practical deployment in complex and unstructured environments.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。