Simulation and Implementation of Robot Obstacle Avoidance Algorithm on ROS

Zhang, Jiaonan; Zhang, Tengyu; Niu, Yi; Guo, Yuxuan; Xia, Jiahao; Qiu, Yang; Yuan, Zhengyi; Yang, Yichao

doi:10.1088/1742-6596/2203/1/012010

Cited by 3 publications

(2 citation statements)

References 3 publications

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“…ROS is a widely used robot software platform at present [4]. It is not an operating system but a meta operating system meaning, that it assumes there is an underlying operating system that will assist it in carrying out its tasks.…”

Section: China Robot Competition Middle Size Simulation Leaguementioning

confidence: 99%

Application of Robot Obstacle Avoidance Algorithm and Attack Strategy on ROS

Kang²,

Guan³

et al. 2023

J. Phys.: Conf. Ser.

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China Robot Competition, which integrates the theory and practice of multi-disciplinary intelligent robot system, is one of the most influential robot competitions in China. In this paper, we apply RRT * and APF to the Middle Size Simulation League of soccer on ROS and propose an attack strategy based on extremum. Our experiments showed that the implementation of RRT* and APF optimizes the multiple iterations existing in original obstacle avoidance algorithm and greatly improves the performance of robots when there are fewer obstacles and the maximum speed of obstacle avoidance is limited. Besides, our attack strategy has proved effective on boosting the chances of goal and helped the Central South University to win the championship of China Robot Competition Middle Size Simulation League in 2021.

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Section: China Robot Competition Middle Size Simulation Leaguementioning

confidence: 99%

Application of Robot Obstacle Avoidance Algorithm and Attack Strategy on ROS

Kang²,

Guan³

et al. 2023

J. Phys.: Conf. Ser.

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“…The dynamic obstacles move up and down repeatedly in the yellow area. The simulation test results of obstacle avoidance algorithm [6] are shown in figure 3. From the comparison of the two simulation results shown in figure 3, it can be seen that the traditional A * algorithm path planning does not have the function of dynamic obstacle avoidance.…”

Section: A * Algorithm Combined With Dwa * Algorithm Simulation Exper...mentioning

confidence: 99%

Research and Simulation of Robot Cluster Motion Based on Flocking Algorithm

Wang,

Li,

Cui

2023

Advances in Transdisciplinary Engineering

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The research on robot cluster control and collaborative motion has gradually become an important issue in the research of cluster robots A clustering control and collaborative motion algorithm based on the Flocking algorithm is proposed to address the above issues, which mainly includes three parts: robot cluster path planning, cluster object avoidance, and cluster formation control Firstly, a stable cluster formation is observed through the cluster control of the Flocking algorithm, which enables it to have the ability of cluster collaborative motion Based on this, an improved A * algorithm can be used to plan a cluster movement path At the same time, in the collaborative motion of robot clusters, dynamic and static objects can be avoided through the DWA algorithm, there quickly reaching the destination Solve the problem of cluster control and collaborative motion of robots in complex environments, and finally verify the effectiveness and rationality of the algorithm through simulation experiments.

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