Navigation Control & Path Planning for Autonomous Mobile Robots

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Title: Navigation Control & Path Planning for Autonomous Mobile Robots
Other Titles: Navigation Control and Path Planning for Autonomous Mobile Robots
Authors: PĂĽtz, Sebastian Clemens Benedikt
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Thesis advisor: Prof. Dr. Joachim Hertzberg
Thesis referee: Prof. Dr. Nick Hawes
Abstract: Mobile robots need to move in the real world for the majority of tasks. Their control is often intertwined with the tasks they have to solve. Unforeseen events must have an adequate and prompt reaction, in order to solve the corresponding task satisfactorily. A robust system must be able to respond to a variety of events with specific solutions and strategies to keep the system running. Robot navigation control systems are essential for this. In this thesis we present a robot navigation control system that fulfills these requirements: Move Base Flex. Furthermore, the map representation used to model the environment is essential for path planning. Depending on the representation of the map, path planners can solve problems like simple 2D indoor navigation, but also complex rough terrain outdoor navigation with multiple levels and varying slopes, if the corresponding representation can model them accurately. With Move Base Flex, we present a middle layer navigation framework for navigation control, that is map independent at its core. Based on this, we present the Mesh Navigation Stack to master path planning in complex outdoor environments using a developed mesh map to model surfaces in 3D. Finally, to solve path planning in complex outdoor environments, we have developed and integrated the Continuous Vector Field Planner with the aforementioned solutions and evaluated it on five challenging and complex outdoor datasets in simulation and in the real-world. Beyond that, the corresponding developed software packages are open source available and have been released to easily reproduce the provided scientific results.
Subject Keywords: mobile robots; navigation control; path planning; motion planning; 3D mapping; surface reconstruction; surface navigation; mesh navigation; geodesic path planning; flexible navigation framework; Move Base Flex; ROS
Issue Date: 11-Feb-2022
License name: Attribution-NonCommercial-ShareAlike 3.0 Germany
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Type of publication: Dissertation oder Habilitation [doctoralThesis]
Appears in Collections:FB06 - E-Dissertationen

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