A ROS Reactive Navigation System for Ground Vehicles Based on TP-Space Transformations

[Abstract] This work focuses on the analysis and benchmarking of the mrpt navigation ROS package. The package includes a reactive navigation method based on Trajectory Parameter Space (TP-Space) transformations, together with other nodes such as an alternative particle-filter localization system. A description of its structure and methods in which it is based will be performed. To validate the suitability of the package, tests are performed with a mobile robot with strong kinematic constraints (Ackerman steering) and the result will be compared with the navigation ROS package, a standard for robots autonomous navigation.This work has been funded by the National R+D+i Plan Project DPI2014-56364-C2-1-R of the Spanish Ministry of Economy and Competitiveness and ERDF fundshttps://doi.org/10.17979/spudc.978849749808