Multi-robot SLAM collision avoidance

Hi, my question is,

Is there a way to make robot avoid collision with another robot in the same map using SLAM gmapping (so the map is not completed), but in the same situation this other robot is smaller and only Lidar is used? A goal is to detect the other robot as an obstacle without using sensor data.

Asked by MarosROS on 2020-04-01 06:44:56 UTC

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Answers

Could you compare the robots positions in a node and calculate the proximity between them? If they are too close have one go to its last position and then let the other proceed.

Asked by LukeBowersox on 2020-04-01 17:19:50 UTC

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This is great idea, but i suppose i would need to save the last position of the robot somewhere to use it later.

Asked by MarosROS on 2020-04-02 13:37:21 UTC

Agreed, I would have a variable storing the last goal the robot was sent to and then republish it if you have one of these scenarios. It may take some digging into the move base code to accomplish that, but I have done similar things before and it is certainly possible. I imagine there are quite a few cases your going to need to consider to make this scheme reliable but you can do it! Let me know how it goes.

Asked by LukeBowersox on 2020-04-02 15:03:04 UTC

@MarosROS @LukeBowersox were you able to get Multi-robot SLAM collision avoidance to work? I am also using gmapping slam with 3 turtlebot3s and while they are running independent gmapping slam nodes, due to their relative motion, the slam map becomes inaccurate when the robots are moving near each other. I understand this is because gmapping slam uses the static world assumption (i.e. moving objects are not modeled in any way) so I am wondering

Asked by hunterlineage1 on 2023-04-21 16:57:48 UTC