Real-time avoidance strategy of dynamic obstacles via half model-free detection and tracking with 2D lidar for mobile robots

• Main Authors: Dong, Huixu, Weng, Ching-Yen, Guo, Chuangqiang, Yu, Haoyong, Chen, I-Ming
• Other Authors: Robotics Research Centre
• Format: Article
• Language: English
• Published: 2022
• Subjects: Engineering::Mechanical engineering::Robots; Two Dimensional Displays; Laser Radar
• Online Access: https://hdl.handle.net/10356/162467
• Institution: Nanyang Technological University

Avoidance is a necessary capability for a mobile robot to perform tasks, such as delivering objects in household or industrial scenarios. The existing avoidance strategy based on timed elastic band local planner and cost-map provided by robotics operating system cannot realize the excellent performa...