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A ROS package for UGV navigation based on waypoints, with a purpose of traversing incline terrain regions.

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yorgosk/ugv_navigation_goals

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ugv_navigation_goals

About

This is a ROS package comprising of the rulah_navigation_goals ROS node software. It was developed at the Spring of 2018 by Georgios Kamaras as a complementary software to his undergraduate thesis in Embodied Artificial Intelligence. More specifically, ugv_navigation_goals consists of an offline path planner for incline terrain navigation. This planner takes as input facts about a specific incline terrain region, like degree of slope, the robot's start position and its goal position and lethal obstacles that exist in this terrain region and outputs a vector of waypoints that have been deduced as the recommended for the robot to traverse the incline terrain region with safety. This software package serves as a proof of concept for its authors proposal regarding the utilization of Bezier curves to construct a smooth curved path from the robot's start position, on the start of the slope, to its goal position, significantly higher in the slope.

Usage

Prerequisites

  • To use this software to its full extend, your robot should run on the ROS middleware.
  • Prior to launching the rulah_navigation_goals node you should have already launched your robot's specific packages and especially its move_base node.

Launch

Type:

roslaunch rulah_navigation_goals rulah_navigation_goals.launch

Experimental Validation

For the experimental validation of our work we used the Clearpath Husky UGV in simulation and we created three simulation environments, which can be found on the address https://github.com/yorgosk/husky_simulator.

For the simulations, the Husky Gazebo ROS package was used, with the husky_roboskel_playground_world.launch launch file. The robot was placed in the start position manually, using the teleop_twist_keyboard ROS package, and its move_base was initialized using the Husky Navigation ROS package, with the launch file move_base_mapless_demo.launch. We used the present ugv_navigation_goals package by calling the Rulah Navigation Goals ROS node with the rulah_navigation_goals.launch launch file.

Contact & Feedback

  • Georgios Kamaras

About

A ROS package for UGV navigation based on waypoints, with a purpose of traversing incline terrain regions.

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