This work addresses some limitations encountered when developing autonomous robotic systems for resource-constrained industrial applications in Robotic Operating System (ROS). A new version of the map used for local navigation is proposed to augment the visibility horizon of the robot. During robot navigation, new obstacles appearing in the scenario may lead the robot to deadlock situations, getting the robot stuck trying to reach an unreachable waypoint. Several strategies are implemented to deal with these situations and achieve a robust navigation. The solutions proposed are validated in simulation and real experimentation.


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    Titel :

    Advanced Waypoint Navigation Strategies for Autonomous Mobile Robots in Industrial Settings


    Weitere Titelangaben:

    Lect. Notes in Networks, Syst.


    Beteiligte:
    Tardioli, Danilo (Herausgeber:in) / Matellán, Vicente (Herausgeber:in) / Heredia, Guillermo (Herausgeber:in) / Silva, Manuel F. (Herausgeber:in) / Marques, Lino (Herausgeber:in) / Lorente, María-Teresa (Autor:in) / Montano, Lorenzo (Autor:in) / Lázaro, María Teresa (Autor:in)

    Kongress:

    Iberian Robotics conference ; 2022 ; Zaragoza, Spain November 23, 2022 - November 25, 2022



    Erscheinungsdatum :

    19.11.2022


    Format / Umfang :

    12 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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