Introduction

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A package containing custom turlebot2 URDF configuration files, maps, Gazebo worlds, and navigation parameter files for our paper "DRL-VO: Learning to Navigate Through Crowded Dynamic Scenes Using Velocity Obstacles"(arXiv) in IEEE Transactions on Robotics (T-RO) 2023, and "Towards Safe Navigation Through Crowded Dynamic Environments" in IROS 2021, which is modified from https://github.com/naiij/robot-gazebo.git. These files can be used in different Turtlebot2 navigation applications. Detailed usage can be found at our DRL-VO control policy.

Requirements

• Ubuntu system >= 16.04
• ROS-Kinetic/Melodic/Noetic

Acknowledgements

All contributors from https://github.com/naiij/robot-gazebo.git.

Citation

@article{xie2023drl,
  author={Xie, Zhanteng and Dames, Philip},
  journal={IEEE Transactions on Robotics}, 
  title={DRL-VO: Learning to Navigate Through Crowded Dynamic Scenes Using Velocity Obstacles}, 
  year={2023},
  volume={39},
  number={4},
  pages={2700-2719},
  doi={10.1109/TRO.2023.3257549}}

@inproceedings{xie2021towards,
  title={Towards safe navigation through crowded dynamic environments},
  author={Xie, Zhanteng and Xin, Pujie and Dames, Philip},
  booktitle={2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={4934--4940},
  year={2021},
  organization={IEEE}
}