Research on a costmap that can change the turning path of mobile robot

Abstract

In the field of mobile robots based on ROS (Robot Operating System) platforms, A*, Dijkstra, and BFS (Breadth First Search) are widely used to obtain the shortest path. This approach, however, often results in paths that are close to the obstacles located in corners. In practical applications, cumulative positioning errors in the navigation process are produced by aging components, skidding wheels and so on. In addition, the local path planning of the robot does not completely follow the global path planning, so the robot may easily cross the inflation of the costmap and collide with obstacles when turning. This paper proposes a method to change the turning path of the robot by adding virtual obstacles to the obstacles in map corners. A global path is generated by the path planning algorithm along the virtual obstacle so that the robot can travel along a smooth track that is far from the obstacle when turning. The proposed algorithm ensures that the robot remains far from physical obstacles and avoids collisions.