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naturerobots / mesh_navigation

Mesh Navigation Stack
BSD 3-Clause "New" or "Revised" License
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Dynamic Obstacle Avoidance #5

Open jorgemiar opened 3 years ago

jorgemiar commented 3 years ago

Can mesh navigation plan around dynamic obstacles? Is there some sort of local planner? Or should one from move_base_flex be used?

spuetz commented 3 years ago

The dynamic obstacle avoidance is coming in the beginning of next year through a new layer plugin which adjusting the vector field around dynamic obstacles.

jorgemiar commented 3 years ago

Great! You also mentioned on the move_base_flex repo there will be a MBF implementation with grid_maps next year, will it be similar to this? Will this approach still be superior than grid_maps because of these benefits (mainly muli-level environment support), from your paper?

Unlike 2D grid map approaches, this 3D planner works on triangle meshes instead of 2D grid map planes. Working with such 3D surfaces in navigation has the advantage of conformity of the navigation costs based on distances, height differences, roughness, forbidden areas and other criteria. Additionally,meshes represent 3D space directly and can easily be annotated with semantic labels as described in Deeken et al.(2014). Compared to 2.5D solutions, full 3D mesh surface navigation algorithms enable navigating through a multilevel environment, such as multistory buildings or tunnel systems. In particular mesh navigation is appropriate for climbing robots or other robots with the ability to access walls or ceilings.

spuetz commented 3 years ago

Hi @jorgemia, It is, since it supports multilayer and multilevel environments. But the efficient and robust mapping of meshes is still and open research topic. The grid_map_nav is planned for next year, yes.

derektan95 commented 2 years ago

Hello @spuetz,

Hope all is well. I wonder if there are any updates to the new layer plugin which adjusting the vector field around dynamic obstacles?

Looking forward to it!

sopesa commented 6 months ago

Hi @spuetz!

I'd like to ask if there are any updates on the dynamic (local) mesh planning?