Design of dynamic obstacle avoidance system for self-driving sweeper based on lattice-planner

In this paper, a dynamic obstacle avoidance control system of self-driving sweeper is designed based on lattice-planner algorithm in robot operating system (ROS). On the basis traditional manual sweeper, an obstacle avoidance method in line with the driving characteristics of sweeper has been proposed. Firstly, the planning starting point of this frame is calculated according to the mileage points...