local planner of dynamic obstacle avoidance for robot arms in moveit

asked 2020-05-14 21:28:58 -0500

xibeisiber gravatar image

updated 2020-05-18 09:17:37 -0500

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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