Simulation and Implementation of Robot Obstacle Avoidance Algorithm on ROS
Robots often collide in the process of simulation soccer match. The collision will block the robot’s own motion trajectory, which is not conducive to the robot’s ball grasping and defense. Considering that the obstacles have the characteristics of dynamics, antagonism and uncertainty, the robot’s mo...
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| Published in | Journal of physics. Conference series Vol. 2203; no. 1; pp. 12010 - 12017 |
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| Main Authors | , , , , , , , |
| Format | Journal Article |
| Language | English |
| Published |
Bristol
IOP Publishing
01.02.2022
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| Subjects | |
| Online Access | Get full text |
| ISSN | 1742-6588 1742-6596 1742-6596 |
| DOI | 10.1088/1742-6596/2203/1/012010 |
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| Abstract | Robots often collide in the process of simulation soccer match. The collision will block the robot’s own motion trajectory, which is not conducive to the robot’s ball grasping and defense. Considering that the obstacles have the characteristics of dynamics, antagonism and uncertainty, the robot’s motion trajectory, path selection and obstacle avoidance are very important. Taking ROS as the research platform, the study focuses on the path planning of simulated soccer robot. Meanwhile, we have applied some obstacle avoidance algorithms to the Middle Size Simulation League of soccer. |
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| AbstractList | Robots often collide in the process of simulation soccer match. The collision will block the robot’s own motion trajectory, which is not conducive to the robot’s ball grasping and defense. Considering that the obstacles have the characteristics of dynamics, antagonism and uncertainty, the robot’s motion trajectory, path selection and obstacle avoidance are very important. Taking ROS as the research platform, the study focuses on the path planning of simulated soccer robot. Meanwhile, we have applied some obstacle avoidance algorithms to the Middle Size Simulation League of soccer. |
| Author | Niu, Yi Guo, Yuxuan Zhang, Tengyu Xia, Jiahao Yuan, Zhengyi Zhang, Jiaonan Yang, Yingze Qiu, Yang |
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| Cites_doi | 10.1109/ACCESS.2020.2969316 10.1007/s11370-017-0242-9 10.1016/j.ymssp.2021.107759 |
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| References_xml | – volume: 8 start-page: 1 year: 2020 ident: JPCS_2203_1_012010bib4 article-title: Informed RRT*-Connect: An Asymptotically Optimal Single-Query Path Planning Mthod publication-title: IEEE Access doi: 10.1109/ACCESS.2020.2969316 – volume: 34 start-page: 80 year: 2019 ident: JPCS_2203_1_012010bib8 article-title: Simulation Design of Autonomous Navigation System Based on ROS publication-title: Automation & Instrumentation – volume: 10 start-page: 1670 year: 2015 ident: JPCS_2203_1_012010bib1 publication-title: RRT*-Connect: Faster, Asymptotically Optimal Motion Planning – volume: 28 start-page: 1478 year: 2011 ident: JPCS_2203_1_012010bib5 publication-title: Anytime Motion Planning using the RRT* – volume: 11 start-page: 53 year: 2017 ident: JPCS_2203_1_012010bib3 article-title: Informed RRT* with improved converging rate by adopting wrapping procedure publication-title: Intelligent Service Robotics doi: 10.1007/s11370-017-0242-9 – volume: 17 start-page: 24 year: 2000 ident: JPCS_2203_1_012010bib7 publication-title: RRT-Connect: An Efficient Approach to Single-Query Path Planning – start-page: 98 year: 1998 ident: JPCS_2203_1_012010bib6 article-title: Rapidly-exploring random trees: A new tool for path planning publication-title: Computer ence – volume: 23 start-page: 1243 year: 2006 ident: JPCS_2203_1_012010bib2 publication-title: Replanning with RRTs – volume: 158 start-page: 8 year: 2021 ident: JPCS_2203_1_012010bib9 article-title: Numerical and experimental-based framework for vibro-acoustic coupling investigation on a vehicle door in the slamming event publication-title: Mechanical Systems and Signal Processing doi: 10.1016/j.ymssp.2021.107759 |
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| SubjectTerms | Algorithms Grasping (robotics) Obstacle avoidance Physics Robot dynamics Robots Simulation Soccer Trajectory planning |
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| Title | Simulation and Implementation of Robot Obstacle Avoidance Algorithm on ROS |
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