TY - GEN
T1 - A novel navigation scheme in dynamic environment using layered costmap
AU - Han, Xiaoning
AU - Leng, Yuquan
AU - Luo, Haitao
AU - Zhou, Weijia
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/12
Y1 - 2017/7/12
N2 - Navigation is one of basic functions of auto-mobile robots. After dozens of years of development, now the navigation in static environment almost has been realized, taking the method in ROS (i.e. Robot Operation System) navigation stack as an example. However, when cruising in dynamic environment, there are more difficulties, as the objects in the environment can change their positions. To deal with such cases, we propose a scheme to navigate using layered costmap. By predicting the dynamic object's encounter position according to both its and the robot's kinematic information, and put it in another layer, and set different costs around the objects according the estimation of the motion of them, then path based on the layered costmaps can be planned. In this paper, the safety and efficiency of our scheme have been proven by the results of simulation.
AB - Navigation is one of basic functions of auto-mobile robots. After dozens of years of development, now the navigation in static environment almost has been realized, taking the method in ROS (i.e. Robot Operation System) navigation stack as an example. However, when cruising in dynamic environment, there are more difficulties, as the objects in the environment can change their positions. To deal with such cases, we propose a scheme to navigate using layered costmap. By predicting the dynamic object's encounter position according to both its and the robot's kinematic information, and put it in another layer, and set different costs around the objects according the estimation of the motion of them, then path based on the layered costmaps can be planned. In this paper, the safety and efficiency of our scheme have been proven by the results of simulation.
KW - Automobile Robots
KW - Dynamic Navigation
KW - Layered Costmap
KW - Path Planning
UR - https://www.scopus.com/pages/publications/85028078136
U2 - 10.1109/CCDC.2017.7978468
DO - 10.1109/CCDC.2017.7978468
M3 - 会议稿件
AN - SCOPUS:85028078136
T3 - Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017
SP - 7123
EP - 7128
BT - Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 29th Chinese Control and Decision Conference, CCDC 2017
Y2 - 28 May 2017 through 30 May 2017
ER -