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How to implement obstacles avoidance in Autoware

asked 2019-09-23 01:07:06 -0500

yfshe gravatar image

I am running Autoware with LGSVL Simulator and I want to know how to avoid obstacles in the simulator, specially, don't crash.

I guess the following nodes are necessary:

  • vision_ssd_detect
  • lidar_euclidean_cluster_detect
  • range_fusion
  • imm_ukf_pda_track
  • naive_motion_predict
  • costmap_generator
  • astar_avoid
  • velocity_set

Are there any missing or incorrect nodes here? I hope to hear your advice.

Thank you

Ubuntu 16.04 Kinetic

Autoware 1.12.0

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answered 2019-09-27 07:49:21 -0500

Maximus5684 gravatar image

Your node list looks correct. However, I recommend using lidar_point_pillars in place of lidar_euclidean_cluster_detect, if you don't have commercial-use restrictions. It does a much better job and uses GPU acceleration.

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answered 2019-09-23 19:59:03 -0500

cassini.huygens gravatar image

I am also interested in this topic. I used open planner and dp planner and so multiple paths are generated and an alternative one has to be picked if there is an obstacle on the way. I am not sure which nodes are to be run to detect objects, position them and so the planner can reroute safely.

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Asked: 2019-09-23 01:07:06 -0500

Seen: 46 times

Last updated: Sep 27