Abstract
Path planning and motion control of mobile robots are highly dependent on the map representation. Planners and controllers can solve both simple 2D navigation indoors and complex navigation in rough outdoor terrain with multiple levels and varying slopes. Furthermore, an appropriate map representation can enable various approaches. In my dissertation [Pütz S, Navigation control & path planning for autonomous mobile robots. PhD Thesis, Osnabrück University, 2022], I present the robot navigation control system used worldwide in science and industry that can use different map representations while using the same core: Move Base Flex (MBF). It is a mid-level navigation control system that is map representation independent at its core. Building on this, the Mesh Navigation Stack (MeshNav) provides a layered mesh map to represent surfaces in 3D, layer plugins to compute navigability, and global path planners and local motion controllers using the referenced mesh map. The dissertation also provides an overview of path planning approaches and algorithms for various map representations. In addition, the developed Continuous Vector Field Planner (CVP), which computes vector fields for navigation on a 3D mesh map, is presented and evaluated. The developed software packages are open source and are published as binary ROS packages that can be installed via apt. Thus, the provided scientific results can be easily reproduced. Today, the software stack is available in ROS2 and is being further developed and maintained by Nature Robots.
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Introducing tools for storing, rendering and annotating triangle meshes in ROS and RViz (2018). https://roscon.ros.org/2018, https://vimeo.com/293617680
Pütz S (2022) Navigation control & path planning for autonomous mobile robots. PhD Thesis, Osnabrück University . https://doi.org/10.48693/69
Pütz S, Santos Simón J (2017) Introducing a highly flexible navigation framework: Move Base Flex. https://roscon.ros.org/2017, https://vimeo.com/236174072
Pütz S, Simón JS, Hertzberg J (2018) Move Base Flex: a highly flexible navigation framework for mobile robots. In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Pütz S, Wiemann T, Hertzberg J (2019) Tools for visualizing, annotating and storing triangle meshes in ROS and RViz. In: Proc. 9th European Conference on Mobile Robotics, Prague, Czech Republic. IEEE, Prague, Czech Republic
Pütz S, Wiemann T, Hertzberg J (2020) The mesh tools package—introducing annotated 3D triangle maps in Ros. Robotics and Autonomous Systems (RAS) Selected papers from the 9th European Conference on Mobile Robots (ECMR 2019), 1–38
Pütz S, Wiemann T, Kleine Piening M, Hertzberg J (2021) Continuous shortest path vector field navigation on 3D triangular meshes for mobile robots. In: 2021 IEEE International Conference on Robotics and Automation (ICRA). IEEE, Xi’an, China
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Pütz, S. Navigation Control and Path Planning for Autonomous Mobile Robots. Künstl Intell (2024). https://doi.org/10.1007/s13218-024-00836-x
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DOI: https://doi.org/10.1007/s13218-024-00836-x