A Lightweight Navigation System for Mobile Robots

Lazaro, Maria Teresa, Grisetti, G., Iocchi, Luca , Fentanes, Jaime Pulido and Hanheide, Marc (2017) A Lightweight Navigation System for Mobile Robots. In: Iberian Robotics conference.

Full content URL: http://doi.org/10.1007/978-3-319-70836-2_25

A Lightweight Navigation System for Mobile Robots
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Item Type:Conference or Workshop contribution (Paper)
Item Status:Live Archive


© Springer International Publishing AG 2018. In this paper, we describe a navigation system requiring very few computational resources, but still providing performance comparable with commonly used tools in the ROS universe. This lightweight navigation system is thus suitable for robots with low computational resources and provides interfaces for both ROS and NAOqi middlewares. We have successfully evaluated the software on different robots and in different situations, including SoftBank Pepper robot for RoboCup@Home SSPL competitions and on small home-made robots for RoboCup@Home Education workshops. The developed software is well documented and easy to understand. It is released open-source and as Debian package to facilitate ease of use, in particular for the young researchers participating in robotic competitions and for educational activities.

Keywords:Mobile robots,Navigation,Open source,RoboCup
Subjects:H Engineering > H671 Robotics
Divisions:College of Science > School of Computer Science
ID Code:37349
Deposited On:04 Oct 2019 08:14

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