Arena-Bench: A Benchmarking Suite for Obstacle Avoidance Approaches in Highly Dynamic Environments

نویسندگان

چکیده

The ability to autonomously navigate safely, especially within dynamic environments, is paramount for mobile robotics. In recent years, DRL approaches have shown superior performance in obstacle avoidance. However, these learning-based are often developed specially designed simulation environments and hard test against conventional planning approaches. Furthermore, the integration deployment of into real robotic platforms not yet completely solved. this letter, we present Arena-bench, a benchmark suite train, test, evaluate navigation planners on different 3D environments. It provides tools design generate highly evaluation worlds, scenarios, tasks autonomous fully integrated robot operating system. To demonstrate functionalities our suite, trained agent platform compared it variety existing model-based relevant metrics. Finally, deployed towards robots demonstrated reproducibility results. code publicly available at github.com/ignc-research/arena-bench

برای دانلود رایگان متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Benchmarking Collision Avoidance Schemes for Dynamic Environments

This paper evaluates and compare three stateof-the-art collision avoidance schemes designed to operate in dynamic environments. The first one is an extension of the popular Dynamic Window approach; it is henceforth called TVDW which stands for Time-Varying Dynamic Window. The second one called NLVO builds upon the concept of Non Linear Velocity Obstacle which is a generalization of the Velocity...

متن کامل

Motion Planning and Obstacle Avoidance for Mobile Robots in Highly Cluttered Dynamic Environments

After a quarter century of mobile robot research, applications of this fascinating technology appear in real-world settings. Some require operation in environments that are densely cluttered with moving obstacles. Public mass exhibitions or conventions are examples of such challenging environments. This dissertation addresses the navigational challenges that arise in settings where mobile robot...

متن کامل

Toward Obstacle Avoidance in Intermittent Dynamical Environments

In this paper we discuss a robotic task requiring dynamical safety in the face of an intermittent environment. We define and offer examples of this notion. We then construct a dynamically safe composite controller from dynamically safe constituents, and present empirical evidence of its effectiveness. 1. I n t r o d u c t i o n This paper and a companion paper [1] develop an approach to buildin...

متن کامل

Visually-guided obstacle avoidance in unstructured environments

This paper presents an autonomous vision-based obstacle avoidance system. The system consists of three independent vision modules for obstacle detection, each of which is computationally simple and uses a di erent criterion for detection purposes. These criteria are based on brightness gradients, RGB (Red, Green, Blue) color, and HSV (Hue, Saturation, Value) color, respectively. Selection of wh...

متن کامل

Moving Obstacle Avoidance in Indoor Environments

This paper deals with a problem of autonomous mobile robot navigation among dynamic obstacles. The velocity obstacle approach (VO) is considered an easy and simple method to detect the collision situation between two circular-shaped objects using the collision cone principle. The VO approach has two challenges when applied in indoor environments. The first challenge is that in the real world, n...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

ژورنال

عنوان ژورنال: IEEE robotics and automation letters

سال: 2022

ISSN: ['2377-3766']

DOI: https://doi.org/10.1109/lra.2022.3190086