ROS Navigation Tuning Guide
نویسندگان
چکیده
The ROS navigation stack has become a crucial component for mobile robots using the framework. It is powerful, yet requires careful fine tuning of parameters to optimize its performance on given robot, task that not as simple it looks and potentially time-consuming. This tutorial chapter presents guide beginners aims serve reference “how” “why” when setting value key parameters. covers parameter settings velocity acceleration, global local planners, costmaps, localization package amcl. also discusses recovery behaviors well dynamic reconfiguration feature ROS. We assume reader already set up ready it. material in this originally appeared Tutorials since 2017 with experiments conducted indigo. Nevertheless, been mostly stable indigo, while 2 shares significant overlap terms packages parameters, several innovations. Hence, we present context most recent release (ROS Noetic) at time writing. discuss notable changes made respect Noetic. A video demonstration outcome following available https://y2u.be/1-7GNtR6gVk .
منابع مشابه
ROS Navigation Tuning Guide
The ROS navigation stack is powerful for mobile robots to move from place to place reliably. The job of navigation stack is to produce a safe path for the robot to execute, by processing data from odometry, sensors and environment map. Maximizing the performance of this navigation stack requires some fine tuning of parameters, and this is not as simple as it looks. One who is sophomoric about t...
متن کاملSelf-Tuning Nearness Diagram Navigation
The nearness diagram (ND) navigation method is a reactive navigation method used for obstacle avoidance in which five different robot-environment states are defined and five corresponding actions are designed carefully. In the ND+ navigation method, one more robot-environment state is added and all action equations are reformed to both achieve smoother robot motions and reduce manual parameter ...
متن کاملThe Multi-Agent Navigation Transformation: Tuning-Free Multi-Robot Navigation
This paper proposes a novel methodology for decentralized multi-robot navigation with multiple arbitrarily shaped obstacles in 2-dimensional environments. The proposed methodology is based on the novel concepts of the Navigation Transformation and the Harmonic Function based Navigation Functions. A version of the Navigation Transformation the Multi-Agent Navigation Transformation is proposed in...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Studies in computational intelligence
سال: 2021
ISSN: ['1860-949X', '1860-9503']
DOI: https://doi.org/10.1007/978-3-030-75472-3_6