ROS navigation相关概念小结

最新推荐文章于 2024-08-08 14:32:36 发布

chunyes

最新推荐文章于 2024-08-08 14:32:36 发布

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分类专栏： ros turtlebot Navigation 文章标签： turtlebot

本文链接：https://blog.csdn.net/chunyes/article/details/48503687

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本文深入探讨了ROS导航系统的核心组件，包括navigation stack、nav_core包及其关键接口，通过实施路径规划算法（如A*）并构建全局规划器，实现TurtleBot的自主导航。此外，文章还介绍了在未知环境下的导航策略和D*算法的使用，旨在为开发者提供一套完整的导航解决方案。

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概念
1. navigation stack
A 2D navigation stack takes in information from odometry, sensor streams, and a goal pose and outputs safe velocity commands that are sent to a mobile base.
2. nav_core
nav_core是一个package，provides common interfaces for navigation specific robot actions. The interfaces include BaseGlobalPlanner, BaseLocalPlanner, and RecoveryBehavior. 这些接口可以用来build actions that can easily swap their planner, local controller, or recovery behavior for new versions adhering to the same interface. （对interface的作用还是不太明白）
The nav_core package contains key interfaces for the navigation stack. All planners and recovery behaviors that wish to be used as plugins in the move_base node must adhere to these interfaces.

How to do

1 Implement path planning algorithm(A star) on turtlebot.

Implement your own global planner (interface: base_global_planner).
Read about how all the pieces link together in http://wiki.ros.org/navigation and http://wiki.ros.org/nav_core .
What you’re really doing is creating a subclass of http://docs.ros.org/hydro/api/nav_cor… , overriding the two methods to implement your functionality.

2 If you want to do unknown environment navigation, then you’ll have to have a more robust algorithm that can reactto a changing map. That also involves setting up existing ROS packages that can build a map as you move along.

3 D* algorithm - This algorithm is an extension of A* algorithm.
It addresses the problem of expensive re-planning when obstacles appear in the path of the robot.