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Navigation and motion planning in dynamic uncertain outdoor environment?

asked 2013-05-02 17:53:00 -0500

Astronaut gravatar image

updated 2013-05-02 17:55:21 -0500

Hello

I would like to use my robot for navigation and motion planning in dynamic uncertain outdoor environment. So it is not just a indoor , office environment. Which package in ros might be consider (a part of stageros) as usefful for probabilistic autonomous navigation in such complex and large dynamic environment?? Or I should use some probabilistic approaches as module and than implement them in ROS?? Any help will be welcome.

Thanks

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answered 2013-05-02 23:04:03 -0500

Procópio gravatar image

You are definitely going to need more elaborate motion planners. I suggest you take a look at the SBPL and OMPL packages and also the navigation_experimental stack. The first two packages are able to implement sampling based planners, which are well suited for navigation in complex, changing environments. You can then find a way to implement different metrics for path evaluation, incorporating probabilistic and dynamic information of the environment. The navigation_experimantal stack has the eband_local_planner, which can locally change the robot's path to avoid moving objects.

As far as I know, ROS does not have a ready to use motion planner for dynamic environment. If you want to stick with ROS architecture, my suggestion is that you should think about a global planner that is able to plan considering predictions on the motion of moving objects and a local planner that is able to escape from unpredicted situations.

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Many thanks for the help

Astronaut gravatar image Astronaut  ( 2013-05-05 19:57:44 -0500 )edit

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Asked: 2013-05-02 17:53:00 -0500

Seen: 943 times

Last updated: May 02 '13