REPETIDO - Integration of ROS navigation stack with dynamic environment information in gazebo simulation

• Main Author: Mendes, Pedro Henrique Ferreira
• Publication Date: 2022
• Other Authors: Mendes, Andre C., Duarte, Luis F.C.
• Language: eng
• Source: Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
• Download full: http://hdl.handle.net/10198/29264
• topic: Autonomous mobile robot; Wireless sensor network; Robot operating system; Gazebo simulator; TurtleBot3

Sensing the environment is a crucial task that robots have to perform to navigate autonomously. Furthermore, it must be well executed to make navigation safer and collision- free. As autonomous mobile robots are being deployed in several applications, they often encounter dynamic habitats, where sensing and perceiving the environment becomes harder. This work proposes integrating a wireless sensor network with the Robotic Operating System to incorporate data into layered costmaps used by the robot to navigate, feeding the algorithms with advanced information about the territory. The architecture was tested in simulation, where we could validate the structure and collect data showing improved paths calculated and reduced computational load through better parametrization. Thus, this strategy ensures that the advanced information about the environment has improved the navigation process.