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 inJournal of physics. Conference series Vol. 2203; no. 1; pp. 12010 - 12017
Main Authors Zhang, Jiaonan, Zhang, Tengyu, Niu, Yi, Guo, Yuxuan, Xia, Jiahao, Qiu, Yang, Yuan, Zhengyi, Yang, Yingze
Format Journal Article
LanguageEnglish
Published Bristol IOP Publishing 01.02.2022
Subjects
Algorithms
Grasping (robotics)
Obstacle avoidance
Physics
Robot dynamics
Robots
Simulation
Soccer
Trajectory planning
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ISSN1742-6588
1742-6596
1742-6596
DOI10.1088/1742-6596/2203/1/012010

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Summary: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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ISSN:1742-6588
1742-6596
1742-6596
DOI:10.1088/1742-6596/2203/1/012010