Framework for Fast Experimental Testing of Autonomous Navigation Algorithms

Abstract

Research in mobile robotics requires fully operative autonomous systems to test and compare algorithms in real-world conditions. However, the implementation of such systems remains to be a highly time-consuming process. In this work, we present an robot operating system (ROS)-based navigation framework that allows the generation of new autonomous navigation applications in a fast and simple way. Our framework provides a powerful basic structure based on abstraction levels that ease the implementation of minimal solutions with all the functionalities required to implement a whole autonomous system. This approach helps to keep the focus in any sub-problem of interest (i.g. localization or control) while permitting to carry out experimental tests in the context of a complete application. To show the validity of the proposed framework we implement an autonomous navigation system for a ground robot using a localization module that fuses global navigation satellite system (GNSS) positioning and Monte Carlo localization by means of a Kalman filter. Experimental tests are performed in two different outdoor environments, over more than twenty kilometers. All the developed software is available in a GitHub repository.

Development of a Low Cost and Path-free Autonomous Patrol System Based on Stereo Vision System and Checking Flags

“…As long as the value of i cc falls between i lT and i rT , then the robot moves toward the circle marker until the RFID tag is detected. This algorithm is described in (6). Based on experiment results, we set the values of i lT and i rT to 310 and 330, respectively.…”

“…The patrol system is highly dependent on the function of simultaneous localization and mapping (SLAM), and it also needs rapid SLAM execution efficiency. Therefore, much research has been devoted to improving the working efficiency of SLAM [1][2][3][4][5][6]. Lee, C.W.…”

“…Muñoz-Bañón, M.Á. et al proposed a novel navigation framework based on the robot operation system (ROS), which can separate a mission into several sub-issues to solve them to improve the SLAM working efficiency [6]. Moreover, numerous researchers have addressed the issue of autonomous patrolling robots [7][8][9].…”

Special Issue on Mobile Robots Navigation

“…Finally, disposing of versatile tools that enable researchers to quickly test and compare navigation algorithms in real operation conditions is key in autonomous mobile robotics. In this field, Muñoz-Bañon et al [6] develop a framework for fast experimental testing of navigation algorithms in autonomous robotics, which is based on the Robot Operating System (ROS). They provide a basic structure arranged into a number of abstraction levels that allows researchers to implement and test their algorithms, focusing in any sub-problem of interest such as mapping or localization.…”

Real-Time Characteristics of ROS 2.0 in Multiagent Robot Systems: An Empirical Study

“…Robot software is developed using complex algorithms, such as navigation and simultaneous localization and mapping (SLAM), which are time consuming to develop. Nonetheless, interest in the robot operating system (ROS) is steadily increasing [5][6][7].…”