Application Research on Dynamic Obstacle Avoidance and Navigation of Intelligent Vehicle Based on ROS

The research and application of autonomous driving technology are rapidly entering a stage of vigorous development, in which dynamic obstacle avoidance navigation technology is the key to achieve autonomous driving. In this paper, an intelligent car based on ROS (Robot Operating System) is studied and applied for dynamic obstacle avoidance and navigation. This paper aims to use the laser radar, so that the system can sense the surrounding environment in real time, through the SLAM algorithm to build a map, and combined with advanced path planning algorithm. At the same time, it can achieve intelligent avoidance of dynamic obstacles for vehicles. In the process of navigation, in order to adapt to the dynamic environment, A * and TEB path planner algorithms are used by the system to select the optimal path to the target location, and at the same time, it can dynamically avoid obstacles, and finally through the test to ensure the rationality of the design. The experimental results show that the global path planner and TEB local path planner can realize the dynamic obstacle avoidance of intelligent vehicle in the process of navigation. This research can bring certain reference for the development and application of unmanned driving technology in the later period.