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How to navigate with moving people or objects.

asked 2013-10-17 06:56:19 -0500

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Right now i have working a pioneer dx3 with navigation and gmapping. The robot learns dynamically from gmapping and navigates the environment. But i need to navigate with moving people in the environment and I dont know how to accomplish it. Ive seen that eband_local_planner works, but as the person moves the path the person just walks is marked as obstacle. So i need to be able to have an environment of moving people and clear the path they walk. Any ideas will be appreciated

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answered 2013-10-18 03:42:02 -0500

KruseT gravatar image

Consider joining the navigationSIG and discuss there: https://groups.google.com/forum/#!forum/ros-sig-navigation

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answered 2013-10-17 09:16:10 -0500

Procópio gravatar image

Hi, the task of robot motion planning and navigation with moving people is a very difficult task, and it is still focus of intense research. I believe there is no off-the-shelf solution for it in ROS.

If you want any ideas on how to do it, I suggest searching on the topics of museum robot guides, assistance robotics, motion planning in dynamic environments, human path modelling and prediction, and others...

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@Procópio Silveira Stein thanks, one more question do you know if it is possible to dynamically change the local planner? for instance if a person is detected change from one to another? Thanks

ctguell gravatar imagectguell ( 2013-10-17 17:35:09 -0500 )edit

I'm not sure about that. I implemented a solution where I had multiple navigation modules, and I switched the name of the topics to use one or another. I suggest you create a new question, maybe someone can help you better.

Procópio gravatar imageProcópio ( 2013-10-18 08:04:47 -0500 )edit

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Asked: 2013-10-17 06:56:19 -0500

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Last updated: Oct 18 '13