Full-stack S-DOVS: Autonomous Navigation in Complete Real-World Dynamic Scenarios

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Full-stack S-DOVS: Autonomous Navigation in Complete Real-World Dynamic Scenarios

Martínez, Diego / Riazuelo, Luis / Montano, Luis

Autonomous navigation in dynamic environments is a nowadays unsolved challenge. Several approaches have been proposed to solve it, but they either have a low success rate, do not consider robot kinodynamic constraints or are not able to navigate through big scenarios where the known map information is needed. In this work, a previously existing planner, the Strategy-based Dynamic Object Velocity Space, S-DOVS, is modified and adapted to be included in a full navigation stack, with a localization system, an obstacle tracker and a global planner. The result is a system that is able to navigate successfully in real-world scenarios, where it may face complex challenges as dynamic obstacles or replanning. The final work is exhaustively tested in simulation and in a ground robot.

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Document information

Title :

Full-stack S-DOVS: Autonomous Navigation in Complete Real-World Dynamic Scenarios

Additional title:

Lect. Notes in Networks, Syst.

Contributors:

Tardioli, Danilo (editor) / Matellán, Vicente (editor) / Heredia, Guillermo (editor) / Silva, Manuel F. (editor) / Marques, Lino (editor) / Martínez, Diego (author) / Riazuelo, Luis (author) / Montano, Luis (author)

Conference:

Iberian Robotics conference ; 2022 ; Zaragoza, Spain November 23, 2022 - November 25, 2022

Published in:

ROBOT2022: Fifth Iberian Robotics Conference ; Chapter : 2 ; 14-25

Lecture Notes in Networks and Systems ; 590

Publication date :

2022-11-19

Size :

12 pages

ISBN :

978-3-031-21062-4 , 978-3-031-21061-7

ISSN :