local planner of dynamic obstacle avoidance for robot arms in moveit

asked 2020-05-14 21:28:58 -0600

xibeisiber gravatar image

updated 2021-12-03 09:51:54 -0600

Evgeny gravatar image

Hi all, I want to achieve the dynamic (realtime) obstacle avoidance of the robot arms in the case that the environment suddenly changes when the arm is moving according to preplanned path by ompl or chomp in moveit.

When I searched the key word "local planner" or "dynamic (realtime) obstacle avoidance", most of the results are related to navigation (2D) ... The movement of arms is in a higher dimension space, I don't know whether there is an open source package for this.

Since I use moveit to plan the movement of arms, it would be great that the package is compatible with the moveit framework.

Thanks for any help!

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Comments

Did you found any solution for this? struggling with the same issue, tried to use octomap for the collision avoidance but is not meant to be for dynamic moving environments.

Patrick Vibild gravatar image Patrick Vibild  ( 2021-05-03 04:11:46 -0600 )edit

No direct solution yet. Good news is that the local planner is being implemented in Moveit2, but still in development. In Moveit1, you have to implement it by yourself as described in some publications.

xibeisiber gravatar image xibeisiber  ( 2021-06-08 03:45:23 -0600 )edit