Abstract
An autonomous mobile robot must be capable of navigating through its environment safely in a collision-free manner. This is particularly challenging in dynamic environments, where the robot may find obstacles in unexpected locations and need to replan its path in accordance with the motion of the obstacles. This paper presents a new approach to costmap based navigation with a focus on the dynamic behaviour of the obstacles. The approach predicts future collisions using position and velocity estimates of the robot and the surrounding dynamic obstacles. The cost assignment process takes into account the regions of expected collisions, the uncertainty in the motion estimate of the obstacles, and their motion directions. This ensures collision free paths which do not pass in front of the obstacles, and hence the robot behavior is socially more acceptable.
This work was supported by ISR - University of Coimbra, project UID/EEA/00048/2019 funded by FCT - Fundação para a Ciência e a Tecnologia, and Ultrabot project, funded by the Portuguese National Innovation Agency (ANI), under reference CENTRO-01-0247-FEDER-072644.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Notes
- 1.
ROS Noetic Navigation Stack: http://wiki.ros.org/navigation.
References
Algabri, M., Mathkour, H., Ramdane, H., Alsulaiman, M.: Comparative study AOF soft computing techniques for mobile robot navigation in an unknown environment. Comput. Hum. Behav. 50, 42–56 (2015)
Cheng, J., Cheng, H., Meng, M.Q.H., Zhang, H.: Autonomous navigation by mobile robots in human environments: a survey. In: 2018 IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 1981–1986. IEEE (2018)
De Rose, M., Indri, M., Prato, G.: LiDAR-based Dynamic Path Planning of a Mobile Robot Adopting a Costmap Layer Approach in ROS2. Master’s thesis, Polytechnic University of Turin (2019)
Fiorini, P., Shiller, Z.: Motion planning in dynamic environments using velocity obstacles. Int. J. Robot. Res. 17, 760–772 (1998)
Ghorbani, A., Shiry, S., Nodehi, A.: Using Genetic Algorithm for a Mobile Robot Path Planning. In: 2009 International Conference on Future Computer and Communication, pp. 164–166. IEEE (2009)
Hossain, M.A., Ferdous, I.: Autonomous robot path planning in dynamic environment using a new optimization technique inspired by bacterial foraging technique. Robot. Auton. Syst. 64, 137–141 (2015)
Kollmitz, M., Hsiao, K., Gaa, J., Burgard, W.: Time dependent planning on a layered social cost map for human-aware robot navigation. In: 2015 European Conference on Mobile Robots (ECMR), pp. 1–6. IEEE (2015)
Lu, D.V., Hershberger, D., Smart, W.D.: Layered costmaps for context-sensitive navigation. In: 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 709–715. IEEE (2014)
Nasrinahar, A., Chuah, J.H.: Intelligent motion planning of a mobile robot with dynamic obstacle avoidance. J. Veh. Rout. Algorithms 1, 89–104 (2018)
Seder, M., Petrovic, I.: Dynamic window based approach to mobile robot motion control in the presence of moving obstacles. In: Proceedings 2007 IEEE International Conference on Robotics and Automation, pp. 1986–1991. IEEE (2007)
Singh, N.H., Thongam, K.: Neural network-based approaches for mobile robot navigation in static and moving obstacles environments. Intel. Serv. Robot. 12(1), 55–67 (2019)
Wilkie, D., van den Berg, J., Manocha, D.: Generalized velocity obstacles. In: 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5573–5578. IEEE, St. Louis, MO, USA (2009)
Yang, F., Peters, C.: Social-aware navigation in crowds with static and dynamic groups. In: 2019 11th International Conference on Virtual Worlds and Games for Serious Applications (VS-Games), pp. 1–4. IEEE (2019)
Zeng, J., Ju, R., Qin, L., Hu, Y., Yin, Q., Hu, C.: Navigation in unknown dynamic environments based on deep reinforcement learning. Sensors 19(18), 3837 (2019)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2023 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
Silva, C.A., Dogru, S., Marques, L. (2023). Mobile Robot Navigation in Dynamic Environments Taking into Account Obstacle Motion in Costmap Construction. In: Tardioli, D., Matellán, V., Heredia, G., Silva, M.F., Marques, L. (eds) ROBOT2022: Fifth Iberian Robotics Conference. ROBOT 2022. Lecture Notes in Networks and Systems, vol 589. Springer, Cham. https://doi.org/10.1007/978-3-031-21065-5_20
Download citation
DOI: https://doi.org/10.1007/978-3-031-21065-5_20
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-031-21064-8
Online ISBN: 978-3-031-21065-5
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)