Page 312 - Kỷ yếu hội thảo khoa học lần thứ 12 - Công nghệ thông tin và Ứng dụng trong các lĩnh vực (CITA 2023)

296

2.3 EBAND algorithm

EBAND algorithm [3] based on the concept of elastic bands, which are virtual bands
around the vehicle that represent the safe and feasible areas for the vehicle to move.
The algorithm uses these bands to plan a collision-free path for the vehicle.
The EBAND algorithm starts by generating a set of elastic bands around the vehicle
based on the sensor readings and the vehicle's dimensions. These bands represent the
free space available for the vehicle to move. Then, the algorithm selects a goal point
and plans a path by moving the elastic bands towards the goal point. The algorithm also
considers the vehicle's dynamics and limitations, such as its turning radius, speed, and
acceleration.
During the path planning process, the algorithm checks for collisions with static and
dynamic obstacles, such as other vehicles, pedestrians, and buildings. If a collision is
detected, the algorithm adjusts the position of the elastic bands to avoid the obstacle
and continue planning the path towards the goal point.

2.4 ROS and Gazebo.

ROS.
Robot Operating System (ROS) is an opensource framework used for building and
managing robotic systems. ROS provides a collection of software libraries and tools
that simplify the creation of complex robotic systems.ROS is designed as a distributed
system, with nodes that communicate with one another over a network. Nodes are in-
dividual programs that perform specific tasks, such as sensing, actuation, or computa-
tion. These nodes can run on different machines, enabling distributed processing and
communication across a robotic system. ROS provides a set of common tools and li-
braries for robotics, including drivers for common sensors and actuators, algorithms for
processing sensor data, and tools for visualizing and debugging the behavior of a ro-
botic system. ROS also includes a package management system, allowing developers
to easily share and reuse code between projects. ROS has gained significant popularity
in the robotics community and is used extensively in research and commercial applica-
tions. It has been used in a variety of robotics applications, including drones, autono-
mous vehicles, industrial robots, and humanoid robots.
Overall, ROS is a flexible and powerful framework for building and managing com-
plex robotic systems, providing a standardized way of creating, sharing, and reusing
code across multiple projects[4].

Gazebo
Gazebo [4] is an advanced 3D simulation platform that is widely used for developing
robotics and autonomous systems. This opensource multi-robot simulation environ-
ment enables developers to experiment and prototype their robotic systems in a highly
realistic virtual world. Gazebo realistically models sensors, actuators, and physics, and
it comes equipped with a user-friendly interface for managing robots, drones, and other
automated systems. Gazebo utilizes the Open Dynamics Engine (ODE) physics engine,

CITA 2023 ISBN: 978-604-80-8083-9