CHAPTER 10

Mobile-Robot Navigation

CONTENTS

10.1 Map making

10.2 Path planning

10.3 Example move-base client

10.4 Modifying navigation stack

10.5 Wrap-Up

Introduction To this point, consideration of planning has been restricted to point-and-move along some specified polyline. More generally, a vehicle should be able to plan and execute its own motion toward a goal destination. In doing so, it should consider all a priori information available, such as a pre-recorded map, as well as unexpected obstacles encountered en route. In ROS, this is addressed with what is often referred to as the navigation stack.

The navigation stack assumes use of maps, localization, and obstacle sensing. With specifications of vehicle dimensions, costmaps representing ...

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