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A ROS Reactive Navigation System for Ground Vehicles Based on TP-Space Transformations
| dc.contributor.author | Rodríguez, Enrique | |
| dc.contributor.author | Blanco Claraco, José Luis | |
| dc.contributor.author | Torres Moreno, José Luis | |
| dc.contributor.author | Moreno, José Carlos | |
| dc.contributor.author | Giménez Fernández, Antonio | |
| dc.contributor.author | Guzmán, J.L. | |
| dc.date.accessioned | 2022-02-08T13:04:20Z | |
| dc.date.available | 2022-02-08T13:04:20Z | |
| dc.date.issued | 2016 | |
| dc.identifier.citation | 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 | es_ES |
| dc.identifier.isbn | 978-84-617-4298-1 (UCM) | |
| dc.identifier.isbn | 978-84-9749-808-1 (UDC electrónico) | |
| dc.identifier.uri | http://hdl.handle.net/2183/29725 | |
| dc.description.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. | es_ES |
| dc.description.sponsorship | This work has been funded by the National R+D+i Plan Project DPI2014-56364-C2-1-R of the Spanish Ministry of Economy and Competitiveness and ERDF funds | es_ES |
| dc.description.uri | https://doi.org/10.17979/spudc.9788497498081 | |
| dc.language.iso | spa | es_ES |
| dc.publisher | Comité Español de Automática | es_ES |
| dc.relation | info:eu-repo/grantAgreement/MINECO/Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016/DPI2014-56364-C2-1-R/ES/ESTRATEGIAS DE CONTROL Y GESTION ENERGETICA EN ENTORNOS PRODUCTIVOS CON APOYO DE ENERGIAS RENOVABLES/ | |
| dc.relation.uri | https://doi.org/10.17979/spudc.9788497498081.1213 | es_ES |
| dc.rights | Atribución-NoComercial-CompartirIgual 4.0 Internacional | es_ES |
| dc.rights.uri | https://creativecommons.org/licenses/by-nc-sa/4.0/deed.es | * |
| dc.subject | Reactive navigation | es_ES |
| dc.subject | Planned navigation | es_ES |
| dc.subject | Obstacle avoidance | es_ES |
| dc.subject | MRPT | es_ES |
| dc.subject | ROS | es_ES |
| dc.title | A ROS Reactive Navigation System for Ground Vehicles Based on TP-Space Transformations | es_ES |
| dc.type | info:eu-repo/semantics/conferenceObject | es_ES |
| dc.rights.access | info:eu-repo/semantics/openAccess | es_ES |
| UDC.startPage | 1213 | es_ES |
| UDC.endPage | 1220 | es_ES |
| dc.identifier.doi | 10.17979/spudc.9788497498081.1213 | |
| UDC.conferenceTitle | XXXVII Jornadas de Automática | es_ES |
