Router Planning of Quadruped Robot on Irregular Terrain

Build a simplified mathematical model of a the irregular complex terrain environment.Model of the problem is built by combining with terrain environment model.Use the Heuristic-based genetic algorithm,evolutionary selection is not only in the mating stage but also is integrated into the population initialization phase.To discrete the modeling of continuous track.by simplifying the complex router planning problem,achieve the efficient autonomous chosen of the router.Establish a new way for static gait of quadruped robot global router planning.