Neonavigation meta-package: 2-D/3-DOF seamless global-local planner for ROS - Development and field test on the representative offshore oil plant

Atsushi Watanabe, Daisuke Endo, Genki Yamauchi, Keiji Nagatani

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

This paper introduces an algorithm and implementation of a new navigation package for ROS. The contribution of this work is to provide a path and motion planner package that is suitable for the complex and narrow environments. The package realizes a 2-D/3-DOF seamless globallocal planner. In this package, collision avoidance frequency can be faster than the conventional one, and planned path is always taking the global goal into account. The new navigation package is released as an open-source software on GitHub. In this paper, the field test results in the representative offshore oil plant, which has narrow corridors with projecting pieces of equipment, are shown.

Original languageEnglish
Title of host publicationSSRR 2016 - International Symposium on Safety, Security and Rescue Robotics
EditorsKamilo Melo
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages86-91
Number of pages6
ISBN (Electronic)9781509043491
DOIs
Publication statusPublished - 2016 Dec 14
Event14th International Symposium on Safety, Security and Rescue Robotics, SSRR 2016 - Lausanne, Switzerland
Duration: 2016 Oct 232016 Oct 27

Publication series

NameSSRR 2016 - International Symposium on Safety, Security and Rescue Robotics

Other

Other14th International Symposium on Safety, Security and Rescue Robotics, SSRR 2016
CountrySwitzerland
CityLausanne
Period16/10/2316/10/27

ASJC Scopus subject areas

  • Human-Computer Interaction
  • Artificial Intelligence
  • Safety, Risk, Reliability and Quality

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  • Cite this

    Watanabe, A., Endo, D., Yamauchi, G., & Nagatani, K. (2016). Neonavigation meta-package: 2-D/3-DOF seamless global-local planner for ROS - Development and field test on the representative offshore oil plant. In K. Melo (Ed.), SSRR 2016 - International Symposium on Safety, Security and Rescue Robotics (pp. 86-91). [7784282] (SSRR 2016 - International Symposium on Safety, Security and Rescue Robotics). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SSRR.2016.7784282