Implementation of an Algorithm for Dynamic Environment Mapping and Obstacle Avoidance With ROS

Abstract

To solve the problem that indoor mobile robots always collide with obstacles during navigation, this paper proposes a dynamic environment mapping and obstacle avoidance algorithm with ROS. Simultaneous Localization and Mapping are realized through the Gmapping algorithm and the Cartographer algorithm respectively. Through comparison, it is found that the mapping effect of the Cartographer algorithm is more ideal. Apply A* algorithm to realize global path planning. Different from the traditional local obstacle avoidance algorithm, this paper applies the TEB algorithm to the Ackerman robot platform to achieve local path planning. A method of writing scripts to realize the multi-point cruise function of the robot is proposed and experiments are carried out in the simulation environment and the real environment respectively. Finally, experiments prove that the method applied in this paper makes the indoor mobile robot’s dynamic obstacle avoidance better.