/DynamicObstacleAvoidance

The repository contains implementation for motion planning of mobile robot in dynamic indoor hospital-like environments for (assistive) autonomy using ROS Navigation Stack and Optimal Reciprocal Collision Avoidance (RVO2 Library)

Primary LanguageC++

Dynamic Obstacle Avoidance in Indoor Environment using ORCA in ROS

The repository is our project for achieving dynamic collision avoidance in indoor spaces using Optimal Reciprocal Collision Avoidance (ORCA) algorithm in ROS using C++

The repository employs use of RVO2 library for ORCA & dynamic object tracking with LiDAR using Kalman filters

The package is build and tested for Ubuntu 18.04 with ROS Melodic

The algorithm has been made to deploy on mobile robots with static indoor environments

Algorithm simulation inside hopital corridors

Algorithm simulation in hospital lobby

Dependencies

You will need turtlebot3 & turtlebot3_simulation packages.

OpenCV is also needed if you wish to work with certain functionalities of this repo. You can find the installing instruction for OpenCV4 on Ubuntu 18-04 here

Don't forget to configure the OpenCV_DIR in the CMakeLists.txt with {path-to-your-OpenCV-library}

Installation

Git clone this repo in the src of your ROS workspace

    git clone https://github.com/KavitShah1998/DynamicObstacleAvoidance

Source and build the project ''' cd .. source ./devel/setup.bash catkin_make '''

Package modifications

Running

Once you have successfully build the project you can run the executables with the following commands from inside your build directory

  1. Launching the world file

  • To run the project on static world (with standing humans)

      roslaunch env turtlebot3_env_open_spaces_wsh-edit.launch

  • To run the project on dynamic world (with moving humans) .. [work in progress]

     roslaunch env turtlebot3_env_open_spaces_wwh-edit.launch
  1. Run the simulation

  • To run the simulation, in another sourced terminal:

      rosrun orca test_sim

For Contributors:

  • In order to understand more about the RVO2 library & ORCA algorithm please refer the paper and library webpage available in references

  • To understand about interacting with the library please refer the orca->src->test_sim_Function_Information.txt

  • While making any new changes, please update the CHANGELOG.rst files in the base folder and in each package about the changes made. Creating a new branch for the change would be highly adviced.

  • For any issues/bugs, please create a new issue in the issues section with appropriate description and tags to help other contributors narrow down & solve the problem effectively.

  • Your contributions are truly appreciated

References & Useful resources