Velocity Estimation and Cost Map Generation for Dynamic Obstacle Avoidance of ROS Based AMR

Abstract

In the past few years, due to the growth of the open-source community and the popularity of perceptual computing resources, the ROS (Robotic Operating System)Ecosystem has been widely shared and used in academia, industrial applications, and service fields. With the advantages of reusability of algorithms and system modularity, service robot applications are flourishing via the released ROS navigation framework. In the ROS navigation framework, the grid cost maps are majorly designed for path planning and obstacle avoidance with range sensors. However, the robot will often collide with dynamic obstacles since the velocity information is not considered within the navigation framework in time. This study aims to improve the feasibility of high-speed dynamic obstacle avoidance for an ROS-based mobile robot. In order to enable the robot to detect and estimate dynamic obstacles from a first-person perspective, vision tracking and a laser ranger with an Extend Kalman Filter (EKF) have been applied. In addition, an innovative velocity obstacle layer with truncated distance is implemented for the path planner to analyze the performances between the simulated and actual avoidance behavior. Finally, via the velocity obstacle layer, as the robot faces the high-speed obstacle, safe navigation can be achieved.

Keywords

• velocity obstacle
• moving object tracking
• cost map
• dynamic object avoidance
• autonomous mobile robots