Detail publikace

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

HORELIČAN, T.

Originální název

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

Typ

článek ve sborníku mimo WoS a Scopus

Jazyk

angličtina

Originální abstrakt

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.

Klíčová slova

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

Autoři

HORELIČAN, T.

Vydáno

6. 9. 2023

Nakladatel

Brno University of Technology, Faculty of Electrical Engineering and Communication

Místo

Brno, Czech Republic

ISBN

978-80-214-6153-6

Kniha

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

Edice

1

Číslo edice

1

Strany od

439

Strany do

444

Strany počet

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"
}