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I have an idea that when mapping, let the robot recognize the lane line or parking frame on the ground. Then, set the position of the lane line or parking frame as an obstacle (such as a virtual wall) to allow the robot to move at a certain distance (such as 1 meter) from the line.
Is there any way to achieve this or similar functions?
I'd suggest looking into Hough Lines, as that's how Autonomous Vehicles currently detect lines.
In terms of setting the lines as an obstacle ... it depends on the use case. If you're using move_base to move a robot, then you would need obstacles yes. .. at any rate, you would need a camera to detect the lines. I'd suggest using a depth camera: use the color image to get your lines and then get the 3D points of those pixels by 'overlaying' them with the depth image. With those 3D points you can create obstacles. You'll likely need to look more into move_base to see how that could be done. I can see a shortcut where you just fake the obstacle by publishing to '/scan' so that move_base will see those points as lidar scans and thus avoid them.
Good luck
Asked: 2020-04-17 13:13:59 -0500
Seen: 450 times
Last updated: Apr 25 '20
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Hi, did you find the solution for your question? I am currently working on something similar. In my project, the lines drawn on the floor are from a circuit for a RC-car. And the lines should act as limits so the car doesn't get out of the circuit.