CHAPTER 10
Mobile-Robot Navigation
CONTENTS
10.4 Modifying navigation stack
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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