BOARR : A Benchmark for quadrotor Obstacle Avoidance based on ROS and RotorS
Thibaut Tezenas Du Montcel, Amaury Nègre, José-Ernesto Gomez-Balderas, Nicolas Marchand · HAL (Le Centre pour la Communication Scientifique Directe) · 2019
Multiple obstacle avoidance algorithms have been proposed over the past years but they were not tested using a common protocol. Some were tested statistically by repeating a task in specific simulated worlds. Others went through a number of real handmade obstacles. The last ones did lengthy real flights in environments that are tough to characterize. This paper proposes the BOARR benchmark that aims to give a common framework to test and compare obstacle avoidance algorithms for quadrotors. It offers multiple sensors and multiple indicators relevant to all quadrotor obstacle avoidance algorithms. It uses ROS, Gazebo and RotorS and can be easily deployed.