Navigation and localization are important aspects of robot research. Mobile robots use sensors in unfamiliar environments to perform map modeling and localization, followed by navigation. Many well-established packages in ROS can be used directly. For navigation, three packages are required: (1) move_base: performs path planning to move the mobile robot to the specified location; (2) gmapping, hector, cartographer, etc. construct maps based on LiDAR data; and (3) adaptive Monte Carlo localization is used for localization based on the constructed map. In the previous chapter, the use of LiDAR sensors for mapping was described. Based on that, this chapter will describe how the robot can use sensor information to determine its position and to navigate autonomously when the map information is known.
Autonomous Navigation for Mobile Robot
Introduction to Intelligent Robot System Design ; Chapter : 5 ; 225-272
2023-09-05
48 pages
Article/Chapter (Book)
Electronic Resource
English
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