Collision avoidance using gazebo simulator

Abstract

Autonomous cars will make its complete presence on roads in the future. A major feature of autonomous cars currently under research is collision avoidance on roads. Better collision avoidance systems could result in a decrease in number of accidents. Smart collision avoidance systems could handle the increasing amount of vehicles on roads. Collision avoidance system provides alert to the autonomous vehicles if an unavoidable collision is detected. When the collision is definite to happen, collision avoidance system takes action by its own without any driver input (by braking or steering or both). Collision avoidance system does the obstacle avoidance by gathering information about the environment with the help of sensors embedded in the system. The effectiveness of collision avoidance system depends upon the speed at which the system reacts from the gathered inputs. This paper uses the Gazebo simulation to design and implement collision avoidance. This paper also present a simple and effective obstacle avoidance algorithm for a simulated robot. Turtlebot’s Obstacle Avoider algorithm is attached to the robot in the simulator with the support of ROS(Robotic operating system) to implement collision avoidance.