To improve the human–computer interaction ability and environmental adaptability of the quadruped robot, especially the ability of the quadruped robot to follow people and avoid obstacles. In this article, the fusion of ultra-wideband positioning technology and three-dimensional laser radar is applied to a quadruped robot. The core is to scan the surrounding obstacle information through three-dimensional laser radar, locate the position of both the quadruped robot and the target person, complete the obstacle avoidance, and follow the task of the quadruped robot through an efficient path planning algorithm. To meet the high-precision positioning requirements, the ultra-wideband positioning system is used in this article. When calculating the coordinates, we propose a three-sided weighted least squares positioning algorithm. To improve the efficiency and stability of the quadruped robot in path search, based on the A* algorithm, this article improves and proposes an incremental A* algorithm based on a sliding window. The feasibility and effectiveness of our method are verified by computer simulation analysis and real experiments of the quadruped robot.

提高四足机器人的人机交互能力和环境适应能力，特别是四足机器人跟随人、避障的能力。本文将超宽带定位技术与三维激光雷达的融合应用于四足机器人。核心是通过三维激光雷达扫描周围障碍物信息，定位四足机器人和目标人的位置，完成避障，通过高效的路径规划算法跟随四足机器人的任务。为满足高精度定位要求，本文采用超宽带定位系统。在计算坐标时，我们提出了一种三边加权最小二乘定位算法。为提高四足机器人路径搜索的效率和稳定性，本文在A*算法的基础上，改进并提出了一种基于滑动窗口的增量A*算法。通过计算机仿真分析和四足机器人实际实验验证了我们方法的可行性和有效性。