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Advisor(s)
Abstract(s)
Sensing the environment is a crucial task that
robots have to perform to navigate autonomously. Furthermore,
it must be well executed to make navigation safer and collision-
free. As autonomous mobile robots are being deployed in several
applications, they often encounter dynamic habitats, where
sensing and perceiving the environment becomes harder. This
work proposes integrating a wireless sensor network with the
Robotic Operating System to incorporate data into layered
costmaps used by the robot to navigate, feeding the algorithms
with advanced information about the territory. The architecture
was tested in simulation, where we could validate the structure
and collect data showing improved paths calculated and reduced
computational load through better parametrization. Thus, this
strategy ensures that the advanced information about the
environment has improved the navigation process.
Description
Keywords
Autonomous mobile robot Wireless sensor network Robot operating system Gazebo simulator TurtleBot3
Citation
Mendes, Pedro Henrique Ferreira; Mendes, Andre C.; Duarte, Luis F.C. (2022). Integration of ROS navigation stack with dynamic environment information in gazebo simulation. In 2022 Smart Technologies, Communication and Robotics (STCR). p. 1-5. ISBN 978-1-6654-6047-7
Publisher
IEEE