동적 장애물 환경에서 Heat Kernel 및 Costmap 레이어를 이용한 AMR 장애물 회피 방법

Abstract

At the logistics site, interest and demand for AMR(Autonomous Mobile Robot) is increasing. A representative function required in this situation is obstacle avoidance. In particular, research on avoiding difficult or dynamic obstacles is more important. Research on this is continuously being conducted, but there is a lack of research on the case where multiple AMRs mutually avoid each other. In this study, we create a navigation costmap layer using heat kernel and propose an obstacle avoidance method based on it. The proposed method makes it difficult to approach the obstacle by adding a cost equal to the heat by applying Heat Kernel operation around it after detecting the obstacle. Since the resultant value of Heat Kernel increases rapidly as it approaches an obstacle, AMR can safely avoid obstacles or mutual avoidance.