Obstacle Avoidance for Autonomous Mobile Robots Based on Mapping Method

TL;DR

This paper introduces an obstacle avoidance method for mobile robots using ROS and DWA, demonstrating effective navigation in environments with static and dynamic obstacles through laser scanner data.

Contribution

It combines ROS with the dynamic window approach for obstacle avoidance, validated by experiments with real-world laser scanner data.

Findings

Effective navigation in static and dynamic obstacle environments

Successful implementation using ROS and DWA

Laser scanner data enables real-time obstacle detection

Abstract

In recent years, the mobile robot has been considerable attention to researchers for its application in various environments. For a mobile robot navigating its way from starting point to a goal point while traversing through deterrents, needs to recognize the obstacles and generate new trajectories to reach the destination. This paper presents an obstacle avoidance method for mobile robots using an open-source in robot operation system (ROS) combining with the dynamic window approach (DWA) algorithm. The experiment is carried out using a mobile robot in which the navigation data is based on data collecting by a laser scanner. The experimental results show that the robot could work well in environments containing static and dynamic obstacles.