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Stereo Vision Based Navigation of Four-Legged Robot Through Unknown Terrain

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  • Hamza Masud, Arslan Khalid,Tayybah Kiren,Syed Muhammad Wasif*, Zubair Mehmood, Muhammad JehanzebIrshad, Muhammad Waqas Jabbar, Nazam Siddique

    (Intelligent Systems Laboratory, Department of Electrical Engineering, University of Gujrat, Pakistan. Department of Computer Science (RCET), University of Engineering and Technology Lahore, Pakistan)

Abstract

This research aims to develop a stereo vision-based navigation system for a quadruped robot, enabling it to move autonomously through rough, unfamiliar terrain and detect blockages in sewer pipelines. The robot uses a stereo camera to capture images, which are then processed to create disparity maps and 3D point clouds. These tools help the robot identify and avoid obstacles. Image rectification and 3D mapping are performed using OpenCV, which generates an occupancy grid to distinguish between free and occupied spaces. Based on this grid, the A* algorithm is used to plan the robot's path. To ensure smooth movement, inverse kinematics calculates the required motor angles and applies predefined Bezier curves for stable locomotion.

Suggested Citation

  • Hamza Masud, Arslan Khalid,Tayybah Kiren,Syed Muhammad Wasif*, Zubair Mehmood, Muhammad JehanzebIrshad, Muhammad Waqas Jabbar, Nazam Siddique, 2025. "Stereo Vision Based Navigation of Four-Legged Robot Through Unknown Terrain," International Journal of Innovations in Science & Technology, 50sea, vol. 7(5), pages 46-56, March.
    • Handle: RePEc:abq:ijist1:v:7:y:2025:i:5:p:46-56
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