A ROS Reactive Navigation System for Ground Vehicles Based on TP-Space  Transformations

Rodríguez, Enrique; Blanco Claraco, José Luis; Torres-Moreno, José Luis; Moreno, José Carlos; Giménez, Antonio; Guzmán, J.L.

Use this link to cite:

http://hdl.handle.net/2183/29725

A ROS Reactive Navigation System for Ground Vehicles Based on TP-Space Transformations

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2016_Rodriguez_Enrique_ROS-reactive-navigation-system-ground-vehicle-based-tp-space-transformations.pdf (1.69 MB)

Identifiers

URI: http://hdl.handle.net/2183/29725

DOI: 10.17979/spudc.9788497498081.1213

Publication date

2016

Authors

Rodríguez, Enrique

Blanco Claraco, José Luis

Torres-Moreno, José Luis

Moreno, José Carlos

Giménez, Antonio

Guzmán, J.L.

Bibliographic 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

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.