The vehicle will wait for some time and then actively detour, if the obstacle does not leave within some time.
[VINS-Mono](https://github.com/HKUST-Aerial-Robotics/VINS-Mono)
[VINS-Fusion](https://github.com/HKUST-Aerial-Robotics/VINS-Fusion)
[ORBSLAM2](https://github.com/raulmur/ORB_SLAM2)
move_base_vel: original navigation velocity command without obstacle avoidance
cmd_vel: raw navigation velocity command with obstacle avoidance
cmd_vel_filtered: smoothed velocity command with obstacle avoidance
move_base_vel: original navigation velocity command without obstacle avoidance
cmd_vel: smoothed velocity command with obstacle avoidance
pink o: sample points
grey- purple - yellow o: clustered points
red △: clustered center
green --: fitted circle from clustered points
green o: circle center
PDF Document of Aalborg Universitet
red: laser data
green: fitted circle
yellow: fitted straight line
blue: robot footprint
visulization: obstacle_detector.msg in RViz
black: laser data
green: fitted circle & line
samples_per_scan: 4200
scan_frequency: 15
No need to share information between robots
Robots move independently of each other
controller_frequency: 2.0Hz (Due to computational load on my own computer)
base_local_planner: teb_local_planner/TebLocalPlannerROS
max_vel_x: 1.0m/s
play speed: ×4
Scheduling: Manhattan distance
Routing: global path planning based on information sharing
& junction behavior of independence
Clicked point: Navigation tasks are automatically assigned to the nearest and idle robot.
controller_frequency: 2.0Hz (Due to computational load on my own computer)
base_local_planner: teb_local_planner/TebLocalPlannerROS
max_vel_x: 1.0m/s
play speed: ×4
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