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Obstacle avoidance behaviors in Mobile Robots

asked 2022-06-09 03:17:48 -0500

SuleKayiran gravatar image

updated 2022-07-29 03:57:54 -0500

hi everyone i am using ros kinetic and i am trying to build a mobile robot. But I am having problems with parameters and robot behavior. When my robot sees an obstacle, it avoids the obstacle and changes its course, yes this is very nice, but this seems to cause some problems with moving dynamic obstacles. What I want is for my robot to stop until the obstacle is cleared from the map when it sees an obstacle and continue when the obstacle is gone. Are there suitable parameters for this? or should i create a node with lidar data? I actually tried rendering with lidar data, but had trouble using message types in its algorithm. I would be very happy if you could guide me in this matter. edit: What alternatives can be used besides the planner? writing another node or using a sensor etc. i need your help on this

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Are you using move_base? If so, which local planner are you using?

Mike Scheutzow gravatar image Mike Scheutzow  ( 2022-06-11 09:34:13 -0500 )edit

hi, yes i use move_base and dwa local planner.

SuleKayiran gravatar image SuleKayiran  ( 2022-06-13 06:59:24 -0500 )edit

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answered 2022-06-14 08:24:15 -0500

Mike Scheutzow gravatar image

The behavior you are asking for is decided by the local planner. As far as I know, none of the well-known local planners can be configured to do what you want. The main purpose of the DWA planner is to avoid obstacles, so you should not use it; you need to search for a different local planner.

The navigation package contains the Carrot planner, which you could look at. It's a very limited and dumb local planner.

You could write a simple local planner yourself, if you know c++. There is a tutorial to get you started:

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It's a feature that, by the looks of it, is currently being added to Nav2 as described in Discourse.

However, that would be ROS2 Rolling (potentially Humble) and not Kinetic.

Joe28965 gravatar image Joe28965  ( 2022-06-14 08:33:54 -0500 )edit

thank you for helping. yes carrot planner limited . Writing my own planner can be a bit of a hassle, but it could be a solution for me. I will look at the references you mentioned and try to find out. @Mike Scheutzow

SuleKayiran gravatar image SuleKayiran  ( 2022-07-29 03:53:10 -0500 )edit

What alternatives can be used besides the planner? writing another node or using a sensor etc. i need your help on this

SuleKayiran gravatar image SuleKayiran  ( 2022-07-29 03:58:03 -0500 )edit

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Asked: 2022-06-09 03:17:48 -0500

Seen: 124 times

Last updated: Jul 29 '22