Kognitive Systeme

GeRoNa - Generic Robot Navigation

Sebastian Buck, Goran Huskić

In the GeRoNa project we develop a generic robot navigation framework that bundles path planning and path following. Our goal is to provide a modular solution that can be applied both indoors and outdoors. Furthermore, our solution is not limited to a specific type of robot, as the following video demonstrates:

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We provide a kinematic path planner that generates paths that are admissible for car-like robots. These paths can also be followed by any other robot with different kinematics. The path planning interface is kept very general so that new planners can easily be used.

Path following is achieved using different robot controllers[3] which generate velocity commands for a variety of robot kinematics. The framework is designed to be easily extensible for new tasks and robot models.

Fig. 1: System architecture of the GeRoNa project: The project consists of three main packages: Path control, path planning and path following. Not contained are localization and mapping nodes, which can be optionally used for path planning. Arbitrary obstacle detection[4] approaches are also supported via a generic point cloud interface.

Related projects and robots that use this navigation framework are:

  • Control of Outdoor Robots
  • PATSY: Person detecting Autonomous Transportation SYstem
  • SICK Robot Day 2014
  • DLR SpaceBot Camp 2015

Download

For more information about downloading the navigation stack, please refer to the Github Repository.

References

[1] Sebastian Buck and Andreas Zell. Cs::apex: A framework for algorithm prototyping and experimentation with robotic systems. Journal of Intelligent & Robotic Systems, Apr 2018. [ DOI | details | link ]
[2] Goran Huskić, Sebastian Buck, Luis Azareel Ibargüen González, and Andreas Zell. Person following at higher speeds using a skid-steered mobile robot. In Intelligent Robots and Systems (IROS), 2017 IEEE/RSJ International Conference on, Vancouver, Canada, September 2017. [ details ]
[3] Sebastian Buck, Richard Hanten, Karsten Bohlmann, and Andreas Zell. Multi-sensor payload detection and acquisition for truck-trailer agvs. In Robotics and Automation (ICRA), 2017 IEEE International Conference on, Singapore, 2017. [ details ]
[4] Goran Huskić, Sebastian Buck, and Andreas Zell. Path following control of skid-steered wheeled mobile robots at higher speeds on different terrain types. In IEEE International Conference on Robotics and Automation (ICRA), Singapore, 2017. [ details ]
[5] Sebastian Buck, Richard Hanten, Karsten Bohlmann, and Andreas Zell. Generic 3d obstacle detection for agvs using time-of-flight cameras. In Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on, pages 4119 - 4124, Daejeon, Korea, October 2016. [ DOI | details ]
[6] Goran Huskić, Sebastian Buck, and Andreas Zell. A simple and efficient path following algorithm for wheeled mobile robots. In Intelligent Autonomous Systems (IAS), The 14th International Conference on, Shanghai, CN, July 2016. [ DOI | details ]
[7] Sebastian Buck, Richard Hanten, Goran Huskić, Gerald Rauscher, Alina Kloss, Jan Leininger, Eugen Ruff, Felix Widmaier, and Andreas Zell. Conclusions from an object-delivery robotic competition: Sick robot day 2014. In Advanced Robotics (ICAR), The 17th International Conference on, pages 137-143, Istanbul, TR, July 2015. [ DOI | details | link | pdf ]