A ROS reactive navigation system for ground vehicles based on TP-space transformations

• Enrique Rodríguez ^[1] ; José Luis Blanco Claraco ^[1] ; José Luis Torres Moreno ^[1] ; José Carlos Moreno ^[1] ; Antonio Giménez Fernández ^[1] ; José Luis Guzmán ^[1]
  1. [1] Universidad de Almería

     Universidad de Almería

     Almería, España

     
• Localización: Actas de las XXXVII Jornadas de Automática: Madrid. 7, 8 y 9 de septiembre de 2016, 2016, ISBN 978-84-9749-808-1, págs. 1213-1220
• Idioma: inglés
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• Resumen

  • 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.