A novel navigation scheme in dynamic environment using layered costmap

Xiaoning Han, Yuquan Leng, Haitao Luo, Weijia Zhou
<span title="">2017</span> <i title="IEEE"> 2017 29th Chinese Control And Decision Conference (CCDC) </i> &nbsp;
Navigation is one of basic functions of auto-mobile robots. After dozens of years of development, now the navigation in static environment almost has been realized, taking the method in ROS (i.e. Robot Operation System) navigation stack as an example. However, when cruising in dynamic environment, there are more difficulties, as the objects in the environment can change their positions. To deal with such cases, we propose a scheme to navigate using layered costmap. By predicting the dynamic
more &raquo; ... ct's encounter position according to both its and the robot's kinematic information, and put it in another layer, and set different costs around the objects according the estimation of the motion of them, then path based on the layered costmaps can be planned. In this paper, the safety and efficiency of our scheme have been proven by the results of simulation. Fig 1 The "wall" formed by person trajectory when treated as a static object 7123 978-1-5090-4657-7/17/$31.00 c 2017 IEEE
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