A ROS Reactive Navigation System for Ground Vehicles Based on TP-Space Transformations
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A ROS Reactive Navigation System for Ground Vehicles Based on TP-Space TransformationsDate
2016Citation
Rodríguez, E., Blanco, J.L., Torres, J.L., Moreno, J.C., Giménez, A., Guzmán, J.L. A ROS reactive navigation system for ground vehicles based on tp-space transformations. En Actas de las XXXVII Jornadas de Automática. 7, 8 y 9 de septiembre de 2016, Madrid (pp. 1213-1220). DOI capítulo: https://doi.org/10.17979/spudc.9788497498081.1213 DOI libro: https://doi.org/10.17979/spudc.9788497498081
Abstract
[Abstract] This work focuses on the analysis and benchmarking of the mrpt navigation ROS package. The package includes a reactive navigation method based on Trajectory Parameter Space (TP-Space) transformations, together with other nodes such as an alternative particle-filter localization system. A description of its structure and methods in which it is based will be performed. To validate the suitability of the package, tests are performed with a mobile robot with strong kinematic constraints (Ackerman steering) and the result will be compared with the navigation ROS package, a standard for robots autonomous navigation.
Keywords
Reactive navigation
Planned navigation
Obstacle avoidance
MRPT
ROS
Planned navigation
Obstacle avoidance
MRPT
ROS
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Atribución-NoComercial-CompartirIgual 4.0 Internacional
ISBN
978-84-617-4298-1 (UCM) 978-84-9749-808-1 (UDC electrónico)
