Hands-On ROS for Robotics Programming

Components in navigation

Navigation is the movement of a robot from the current position to a target location following a planned trajectory. This ability in a robot means that it is capable of determining its position at any point along the trajectory, as well as to setting up a plan of action given a representation of the environment, such as a map. We should also add the ability to avoid dynamic obstacles or others that were not present when the map was built for the first time.

There are four components to consider when building the navigation ability:

• A map of the environment, preexisting and given to the robot as an input, or built by its own means using the sensory data that it collects with its sensors. This whole process, that is, ...