Open Source Integrated Planner for Autonomous Navigation in Highly Dynamic Environments
Hatem Darweesh*, Eijiro Takeuchi*, Kazuya Takeda*, Yoshiki Ninomiya*, Adi Sujiwo*, Luis Yoichi Morales*, Naoki Akai*, Tetsuo Tomizawa**, and Shinpei Kato***
Furo-cho, Chikusa-ku, Nagoya, Aichi 464-8601, Japan
**National Defense Academy of Japan
1-10-20 Hashirimizu, Yokosuka, Kanagawa 239-8686, Japan
***The University of Tokyo
7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8654, Japan
Planning is one of the cornerstones of autonomous robot navigation. In this paper we introduce an open source planner called “OpenPlanner” for mobile robot navigation, composed of a global path planner, a behavior state generator and a local planner. OpenPlanner requires a map and a goal position to compute a global path and execute it while avoiding obstacles. It can also trigger behaviors, such as stopping at traffic lights. The global planner generates smooth, global paths to be used as a reference, after considering traffic costs annotated in the map. The local planner generates smooth, obstacle-free local trajectories which are used by a trajectory tracker to achieve low level control. The behavior state generator handles situations such as path tracking, object following, obstacle avoidance, emergency stopping, stopping at stop signs and traffic light negotiation. OpenPlanner is evaluated in simulation and field experimentation using a non-holonomic Ackerman steering-based mobile robot. Results from simulation and field experimentation indicate that OpenPlanner can generate global and local paths dynamically, navigate smoothly through a highly dynamic environments and operate reliably in real time. OpenPlanner has been implemented in the Autoware open source autonomous driving framework’s Robot Operating System (ROS).
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