Publication detail

Towards a modular multi-platform ROS2-based navigation system for mobile robots

HORELIČAN, T.

Original Title

Towards a modular multi-platform ROS2-based navigation system for mobile robots

Type

article in a collection out of WoS and Scopus

Language

English

Original Abstract

This paper provides an overview of a proof-of-concept modular system architecture built on top of the ROS2 framework. As support builds up, the whole system should easily be adaptable to different robotic platform types with little to no modifications necessary. High-level path planning and autonomous navigation tasks make use of the open-source Navigation2 package, which provides implementations of several well known algorithms and can be further configured to suite even more specific needs. Low-level robot and hardware control tasks are performed by custom developed packages which strive to perpetuate the modularity paradigm as much as possible. A description of the individual elements will be provided, and several experimental scenarios will be presented showcasing successful deployment of the system on two conceptually different robotic platform types.

Keywords

mobile robot, autonomous navigation, obstacle avoidance, localization, SLAM mapping

Authors

HORELIČAN, T.

Released

6. 9. 2023

Publisher

Brno University of Technology, Faculty of Electrical Engineering and Communication

Location

Brno, Czech Republic

ISBN

978-80-214-6153-6

Book

Proceedings I of the 29th Student EEICT 2023 (General Papers)

Edition

1

Edition number

1

Pages from

439

Pages to

444

Pages count

6

URL

https://www.eeict.cz/eeict_download/archiv/sborniky/EEICT_2023_sbornik_1.pdf

BibTex

@inproceedings{BUT183420,
  author="Tomáš {Horeličan}",
  title="Towards a modular multi-platform ROS2-based navigation system for mobile robots",
  booktitle="Proceedings I of the 29th Student EEICT 2023 (General Papers)",
  year="2023",
  series="1",
  number="1",
  pages="439--444",
  publisher="Brno University of Technology, Faculty of Electrical Engineering and Communication",
  address="Brno, Czech Republic",
  isbn="978-80-214-6153-6",
  url="https://www.eeict.cz/eeict_download/archiv/sborniky/EEICT_2023_sbornik_1.pdf"
}