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Autonomous outdoor obstacle avoidance using LiDAR

asked 2019-05-30 04:42:39 -0500

Withered_Shadow gravatar image

updated 2019-05-30 08:54:19 -0500

Orhan gravatar image


So I want to work on obstacle avoidance using a LiDAR in an outdoor environment. Hence I cannot provide initially a map for the environment. I went through ROS and observed that most algorithms require to move the robot around initially to form the map. This however is not possible in outdoor environments. So is there any algorithm which is suited for this task.


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Why is it not possible up move your robot to build up a map because it is outside?

PeteBlackerThe3rd gravatar image PeteBlackerThe3rd  ( 2019-05-30 15:16:15 -0500 )edit

Here I assume the obstacles are static but their positions unknown. I would like to give the robot a certain goal and make it move from its current position to the goal, without initializing a map.

Withered_Shadow gravatar image Withered_Shadow  ( 2019-05-30 22:56:14 -0500 )edit

how about using google map. Then use traveling salesman problem (TSP) and have a recalculation every time it encounter an obstacle.

Usui gravatar image Usui  ( 2019-06-06 12:35:39 -0500 )edit

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answered 2019-06-08 18:28:08 -0500

JustinBlack02 gravatar image

I don't see the problem here. If you want to avoid obstacles, then by definition you are moving. If you are moving then you can build an incremental map. If you mean you need to do global navigation then it simply becomes a matter of replaning your trajectory as you go when you find obstacles. I believe the ROS navigation stack supports this.

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Asked: 2019-05-30 04:42:39 -0500

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Last updated: Jun 08 '19