Improved Hybrid Model for Obstacle Detection and Avoidance in Robot Operating System Framework (Rapidly Exploring Random Tree and Dynamic Windows Approach)

Abstract

The integration of machine learning and robotics brings promising potential to tackle the application challenges of mobile robot navigation in industries. The real-world environment is highly dynamic and unpredictable, with increasing necessities for efficiency and safety. This demands a multi-faceted approach that combines advanced sensing, robust obstacle detection, and avoidance mechanisms for an effective robot navigation experience. While hybrid methods with default robot operating system (ROS) navigation stack have demonstrated significant results, their performance in real time and highly dynamic environments remains a challenge. These environments are characterized by continuously changing conditions, which can impact the precision of obstacle detection systems and efficient avoidance control decision-making processes. In response to these challenges, this paper presents a novel solution that combines a rapidly exploring random tree (RRT)-integrated ROS navigation stack and a pre-trained YOLOv7 object detection model to enhance the capability of the developed work on the NAV-YOLO system. The proposed approach leveraged the high accuracy of YOLOv7 obstacle detection and the efficient path-planning capabilities of RRT and dynamic windows approach (DWA) to improve the navigation performance of mobile robots in real-world complex and dynamically changing settings. Extensive simulation and real-world robot platform experiments were conducted to evaluate the efficiency of the proposed solution. The result demonstrated a high-level obstacle avoidance capability, ensuring the safety and efficiency of mobile robot navigation operations in aviation environments.

Obstacle Avoidance and Path Planning Methods for Autonomous Navigation of Mobile Robot

“…An objective function calculates the optimal value of these pairs of velocities based on the minimum distance from the obstacles, the final bearing angle, and the velocity values of the robots. While in less complex environments the DWA can deftly avoid obstacles, its performance in extremely crowded environments may be suboptimal [ 166 ]. The DWA has the local minima and the global convergence problems [ 167 ].…”