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costmap_lrgbd_ros's Introduction

代价地图与智能导航程序

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1. 整个流程

深度图， 局部障碍物地图， RGBD局部代价地图， 局部代价地图可视化图

  • step1 将深度图转化为点云
  • step2 对点云进行xz平面的投影
  • step3 利用射线法检测出可通行区域，蓝色为通行区域，绿色为障碍物，黑色为未知区域
  • step4 障碍物膨胀
  • step5 获取并生成一个waypoint，转换到机器人坐标系下
  • step6 利用DWA算法计算机器人到达waypoint的速度，控制机器人移动

2 博客

随着3D相机的普及和3D激光传感器价格的降低，机器人依靠3D传感器视觉避障和路径规划方案逐渐成为趋势。

近期采用3D相机进行了路径规划的仿真和实测。

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蓝色路标点表示机器人需要经过的waypoints

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机器人眼中的世界

黄线为机器人深度相机视角，黑色为未知区域，绿色为障碍物，蓝色为空闲区域 在这里插入图片描述

膨胀后的局部地图

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机器人逐渐靠近目标物

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