Move Base Flex
| Autor(en): | Putz, S. Santos Simon, J. Hertzberg, J. |
Stichwörter: | Motion planning; Navigation, Complex navigation; Control robots; Customer facilities; Dynamic environments; Navigation strategies; Open sources; Robot operations; Robot tasks, Intelligent robots | Erscheinungsdatum: | 2018 | Herausgeber: | Institute of Electrical and Electronics Engineers Inc. | Enthalten in: | IEEE International Conference on Intelligent Robots and Systems | Startseite: | 3416 | Seitenende: | 3421 | Zusammenfassung: | We present Move Base Flex (MBF), a highly flexible, modular, map-independent, open-source navigation framework for use in ROS. MBF provides modular actions for executing plugins for path planning, motion control, and recovery. These actions define interfaces for external executives to allow highly flexible navigation strategies, which can be intertwined with other robot tasks. MBF has been successfully deployed in a professional setting at customer facilities to control robots in highly dynamic environments. We compare MBF with the well-known move-base and present the architecture as well as different deployment approaches, including how MBF can be used with different executives to perform complex navigation tasks interleaved with other robot operations. © 2018 IEEE. |
Beschreibung: | Conference of 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 ; Conference Date: 1 October 2018 Through 5 October 2018; Conference Code:144267 |
ISBN: | 9781538680940 | ISSN: | 21530858 | DOI: | 10.1109/IROS.2018.8593829 | Externe URL: | https://www.scopus.com/inward/record.uri?eid=2-s2.0-85063004260&doi=10.1109%2fIROS.2018.8593829&partnerID=40&md5=abb3b35fdf7f461b96e723644cc7e357 |
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