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Robot Operating System (ROS) pp 241–274Cite as

Online Trajectory Optimization and Navigation in Dynamic Environments in ROS

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Part of the book series: Studies in Computational Intelligence ((SCI,volume 778))

Abstract

This tutorial chapter provides a comprehensive step-by-step guide on the setup of the navigation stack and the teb_local_planner package for mobile robot navigation in dynamic environments. The teb_local_planner explicitly considers dynamic obstacles and their predicted motions to plan an optimal collision-free trajectory. The chapter introduces a novel plugin to the costmap_converter ROS package which supports the detection and motion estimation of moving objects from the local costmap. This tutorial covers the theoretical foundations of the obstacle detection and trajectory optimization in dynamic scenarios. The presentation is designated for ROS Kinetic and Lunar and both packages will be maintained in future ROS distributions.

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Notes

  1. 1.

    ROS navigation, http://wiki.ros.org/navigation.

  2. 2.

    Adopted from the move_base wiki page, http://wiki.ros.org/move_base.

  3. 3.

    tf, http://wiki.ros.org/tf.

  4. 4.

    teb_local_planner, http://wiki.ros.org/teb_local_planner.

  5. 5.

    costmap_converter, http://wiki.ros.org/costmap_converter.

  6. 6.

    pluginlib, http://wiki.ros.org/pluginlib.

  7. 7.

    rviz, http://wiki.ros.org/rviz.

  8. 8.

    costmap_2d, http://wiki.ros.org/costmap_2d.

  9. 9.

    OpenCV SimpleBlobDetector,http://docs.opencv.org/3.3.0/d0/d7a/classcv_1_1SimpleBlobDetector.html.

  10. 10.

    stage_ros, http://wiki.ros.org/stage_ros.

  11. 11.

    gazebo_ros_pkgs, http://wiki.ros.org/gazebo_ros_pkgs.

  12. 12.

    teb_local_planner_tutorials, https://github.com/rst-tu-dortmund/teb_local_planner_tutorials/tree/rosbook_volume3.

  13. 13.

    Conventions for names of common coordinate frames in ROS are listed at http://www.ros.org/reps/rep-0105.html.

  14. 14.

    The sampling interval can be adjusted by means of the parameter controller_frequency provided by the move_base node of the navigation stack.

  15. 15.

    libg2o, http://wiki.ros.org/libg2o.

  16. 16.

    teb_local_planner, http://wiki.ros.org/teb_local_planner.

  17. 17.

    Interactive markers, http://wiki.ros.org/interactive_markers.

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Author information

Authors and Affiliations

  1. Institute of Control Theory and Systems Engineering, TU Dortmund University, 44227, Dortmund, Germany

    Franz Albers, Christoph Rösmann, Frank Hoffmann & Torsten Bertram

Authors
  1. Franz Albers
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  2. Christoph Rösmann
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  3. Frank Hoffmann
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  4. Torsten Bertram
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Correspondence to Franz Albers .

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Editors and Affiliations

  1. College of Computer Science and Information Systems, Prince Sultan University, Riyadh, Saudi Arabia

    Anis Koubaa

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Albers, F., Rösmann, C., Hoffmann, F., Bertram, T. (2019). Online Trajectory Optimization and Navigation in Dynamic Environments in ROS. In: Koubaa, A. (eds) Robot Operating System (ROS). Studies in Computational Intelligence, vol 778. Springer, Cham. https://doi.org/10.1007/978-3-319-91590-6_8

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