Plan/Control with Dynamic Obstacles

[SteveMacenski]

Right now, we work only with static data about the state of the world. We should be able to create a generic interface to handle detections to track them and have them included in the planning and control processes.

This could be done with explicit modeling (e.g. planner and controller step forward dt and we project the new time-variant pose of detections and uncertainty into C-space) or implicitly (e.g. we have some object we know is dynamic and we "smear" it in the costmap projecting its pose and uncertainty into the current costmap without being time-dependent)

e.g.

• Dynamic avoidance by making the costmap virtually represent velocity vectors of obstacles for static planning
• Dynamic avoidance by modeling dynamic obstacles and having a kinodynamic path planner (state lattice or RRT with t) search through costed space and vector space

[abylikhsanov]

Is this still in development? If so, is the idea to first implement a dynamic obstacle detection (for example as a separate plugin) and then use in any local planner?

[SteveMacenski]

Its in development now.

Integrations for dynamic obstacle data into DWB would be an appreciated contribution if you're interested. Basically it would involve creating a dynamic obstacle critic plugin to take in some set of dynamic tracks and using them and the change in time of the trajectory to score the paths.

[abylikhsanov]

I am actively using TEB local planner and I would like to contribute for that instead if this is still interesting

[SteveMacenski]

In what way?