The Marathon 2: A Navigation System

Developments in mobile robot navigation have enabled robots to operate in warehouses, retail stores, and on sidewalks around pedestrians. Various navigation solutions have been proposed, though few as widely adopted as ROS (Robot Operating System) Navigation. 10 years on, it is still one of the most...

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Bibliographic Details
Published in:Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 2718 - 2725
Main Authors: Macenski, Steve, Martin, Francisco, White, Ruffin, Clavero, Jonatan Gines
Format: Conference Proceeding
Language:English
Published: IEEE 24.10.2020
Subjects:
Behaviour-Based Systems
Heuristic algorithms
Middleware and Programming Environments
Navigation
Safety
Sensors
Service robots
Software
Task analysis
Testing
ISSN:2153-0866
Online Access:Get full text
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Summary:Developments in mobile robot navigation have enabled robots to operate in warehouses, retail stores, and on sidewalks around pedestrians. Various navigation solutions have been proposed, though few as widely adopted as ROS (Robot Operating System) Navigation. 10 years on, it is still one of the most popular navigation solutions 1 . Yet, ROS Navigation has failed to keep up with modern trends. We propose the new navigation solution, Navigation2, which builds on the successful legacy of ROS Navigation. Navigation2 uses a behavior tree for navigator task orchestration and employs new methods designed for dynamic environments applicable to a wider variety of modern sensors. It is built on top of ROS2, a secure message passing framework suitable for safety critical applications and program lifecycle management. We present experiments in a campus setting utilizing Navigation2 to operate safely alongside students over a marathon as an extension of the experiment proposed in Eppstein et al. [1]. The Navigation2 system is freely available at https://github.com/ros-planning/navigation2 with a rich community and instructions.
ISSN:2153-0866
DOI:10.1109/IROS45743.2020.9341207