at-wat/neonavigation

What it solves

It provides a comprehensive suite of tools for autonomous vehicle navigation, specifically addressing the need for seamless global and local path planning and collision avoidance in 2-D and 3-DOF (Degrees of Freedom) environments.

How it works

The project is organized as a ROS meta-package containing several specialized components:

• Path Planning: Uses a 2-D/3-DOF planner to handle global and local motion planning and serial joint collision avoidance.
• Costmap Handling: Manages 3-DOF configuration space costmaps and layered map data.
• Control and Safety: Implements a trajectory tracker for path following and a safety limiter for collision prevention control.
• Odometry: Includes slip compensation to improve the accuracy of vehicle odometry.
• Data Conversion: Converts object surface data into pointclouds for environmental perception.

Who it’s for

Developers and researchers working with ROS (Robot Operating System) to build autonomous vehicles that require precise navigation and collision avoidance.

Highlights

• Seamless integration of global and local planning.
• Support for 3-DOF configuration space costmaps.
• Built-in slip compensation for vehicle odometry.
• Integrated safety limiter for collision prevention.