Navigation

The navigation system comprised SLAM provided by the Cartographer online node and a library of navigation packages known as the ROS Navigation Stack [1]. The submap list of Cartographer was sent as map data into the stack and then globally and locally planned upon. The local planner that was used in the first tests was the default Dynamic Window Approach Planner (DWA Planner) [2] but later in the project, a new local planner was innovated and implemented into the ROS Navigation Stack. The global plan was generated by the default global planner known simply as global_planner.

Links

[1] ROS Navigation Stack

[2] Ibid.