Navigation Control & Path Planning for Autonomous Mobile Robots

Bitte benutzen Sie diese Kennung, um auf die Ressource zu verweisen:
https://doi.org/10.48693/69
Open Access logo originally created by the Public Library of Science (PLoS)
Langanzeige der Metadaten
DC ElementWertSprache
dc.contributor.advisorProf. Dr. Joachim Hertzbergger
dc.creatorPütz, Sebastian Clemens Benedikt-
dc.date.accessioned2022-02-11T15:05:13Z-
dc.date.available2022-02-11T15:05:13Z-
dc.date.issued2022-02-11T15:05:13Z-
dc.identifier.urihttps://doi.org/10.48693/69-
dc.identifier.urihttps://osnadocs.ub.uni-osnabrueck.de/handle/ds-202202116373-
dc.description.abstractMobile 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.eng
dc.rightsAttribution-NonCommercial-ShareAlike 3.0 Germany*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/3.0/de/*
dc.subjectmobile robotseng
dc.subjectnavigation controleng
dc.subjectpath planningeng
dc.subjectmotion planningeng
dc.subject3D mappingeng
dc.subjectsurface reconstructioneng
dc.subjectsurface navigationeng
dc.subjectmesh navigationeng
dc.subjectgeodesic path planningeng
dc.subjectflexible navigation frameworkeng
dc.subjectMove Base Flexeng
dc.subjectROSeng
dc.subject.ddc004 - Informatikger
dc.titleNavigation Control & Path Planning for Autonomous Mobile Robotseng
dc.title.alternativeNavigation Control and Path Planning for Autonomous Mobile Robotseng
dc.typeDissertation oder Habilitation [doctoralThesis]-
thesis.locationOsnabrück-
thesis.institutionUniversität-
thesis.typeDissertation [thesis.doctoral]-
thesis.date2021-12-20-
orcid.creatorhttps://orcid.org/0000-0002-4210-4233-
dc.contributor.refereeProf. Dr. Nick Hawesger
dc.subject.bk54.72 - Künstliche Intelligenzger
dc.subject.zdmM50 - Physics. Astronomy. Technology. Engineering. Computer science. Earth sciencesger
dc.subject.msc68-02 - Research expositionger
dc.subject.ccsI.2.9 - Roboticsger
dc.subject.pacs45.40.Ln - Roboticsger
Enthalten in den Sammlungen:FB06 - E-Dissertationen

Dateien zu dieser Ressource:
Datei Beschreibung GrößeFormat 
thesis_puetz.pdfPräsentationsformat178,3 MBAdobe PDF
thesis_puetz.pdf
Miniaturbild
Öffnen/Anzeigen


Diese Ressource wurde unter folgender Copyright-Bestimmung veröffentlicht: Lizenz von Creative Commons Creative Commons