Resumen de A ROS reactive navigation system for ground vehicles based on TP-space transformations
Enrique Rodríguez, José Luis Blanco Claraco, Jose Luis Torres Moreno, José Carlos Moreno Úbeda, Antonio Giménez Fernández, José Luis Guzmán Sánchez
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.
