September 2017
Intermediate to advanced
530 pages
15h 8m
English
Content preview from A Systematic Approach to Learning Robot Programming with ROSBecome an O’Reilly member and get unlimited access to this title plus top books and audiobooks from O’Reilly and nearly 200 top publishers, thousands of courses curated by job role, 150+ live events each month,
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IV
Mobile Robots in ROS
INTRODUCTION
Mobile-robot navigation can be subdivided roughly into path planning and driving. A path planner is responsible for proposing a collision-free, efficient and navigable path to be followed. A driving subsystem is responsible for controlling the robot to execute such a plan safely and precisely. Achieving good navigation requires development of multiple, inter-related subsystems.
Global path planning requires a model (map) of the environment, and thus mapmaking and representation are important topics.
Global path planning typically is performed with simplifying assumptions on dynamics, resulting in coarse plans. These plans are converted to efficient, achievable trajectories through trajectory planning.
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