[2606.19555] SCAN-Planner: Spatial Collision-Aware Local Planning for Route-Guided Long-Range Quadruped Navigation
[Submitted on 17 Jun 2026]
Title:SCAN-Planner: Spatial Collision-Aware Local Planning for Route-Guided Long-Range Quadruped Navigation
View a PDF of the paper titled SCAN-Planner: Spatial Collision-Aware Local Planning for Route-Guided Long-Range Quadruped Navigation, by Han Zheng and 4 other authors
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Abstract:Quadruped robots are increasingly expected to navigate through narrow passages, cluttered indoor scenes, and large-scale 3D unstructured environments. Existing local planners commonly approximate the robot using isotropic geometric inflation or rely on planar and elevation-map representations, leading to conservative motion in tight spaces and limited reasoning about overhanging structures. This letter presents SCAN-Planner, a spatial collision-aware local planning framework for long-range quadruped navigation. A yaw-aware twin-cylinder footprint is used to model the elongated robot body, enabling whole-body collision evaluation through sparse queries in an inflated 3D occupancy map. We further introduce a projected A* search that generates collision-free guidance on an interpolated ground-following surface, with z-gradient suppression to avoid obstacles horizontally while maintaining vertical stability. For large-scale deployment, a robot-centric sliding map with boundary fallback provides high-resolution local collision checking and recovery from local dead ends. Simulation and real-world experiments demonstrate that SCAN-Planner generates safe, smooth, and efficient trajectories in dense clutter, 3D unstructured scenes, stair traversal, and long-range navigation tasks.
Subjects:
Robotics (cs.RO)
Cite as: arXiv:2606.19555 [cs.RO]
(or arXiv:2606.19555v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2606.19555
arXiv-issued DOI via DataCite (pending registration)
Submission history
From: Han Zheng [view email] [v1] Wed, 17 Jun 2026 19:55:09 UTC (8,317 KB)
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