Mobile robots can highly contribute to achieve the production flexibility envisaged by the Industry 4.0 paradigm, provided that they show an adequate level of autonomy to operate in a typical industrial environment, in which the presence of both static and dynamic obstacles must be managed. Robot Operating System (ROS) is a well known open-source platform for the development of robotic applications, recently updated to the enhanced ROS2 version, including a navigation stack (Nav2) providing most, but not all the capabilities required to a mobile robot operating in an industrial environment. In particular, it does not embed a strategy for dynamic obstacle handling. Aim of this paper is to enhance Nav2 through the development of a Dynamic Obstacle Layer, as a plug and play solution suitable for the integration of the dynamic obstacle information acquired by a generic 2D LiDAR sensor. The effectiveness of the proposed solution is validated through a campaign of simulation tests, carried out in Webots for a TurtleBot3 burger robot, equipped with a RPLIDAR A3 LiDAR sensor.
Dynamic Path Planning of a mobile robot adopting a costmap layer approach in ROS2
2022-01-01
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
DDC: | 629 |
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