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 · 2016
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 global-local 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.