Dodging Dynamical Obstacles Using Turtlebot4 Camera Feed
摘要
The research aims to search for a method for Turtlebot4, a driving robot, to bypass a dynamical obstacle based on an affordable camera while it drives toward some assigned destination. The method of obstacle dodging implemented in this research consists of obstacle detection based on a stereo camera, path planning, and motion control. Most previous research focused on using state-of-the-art instruments such as event cameras or LiDARs to perform an obstacle-dodging function. If the dynamical obstacles dodging technology proposed in this research could be implemented on Turtlebot4, the cost of implementing the functionality of obstacle dodging would be lowered.