Demo

After installing mrpt_navigation and mvsim, run:

roslaunch mrpt_reactivenav2d reactive_nav_demo_with_mvsim.launch

Theory and references

• J.L. Blanco, J. Gonzalez-Jimenez, J.A. Fernandez-Madrigal, "Extending Obstacle Avoidance Methods through Multiple Parameter-Space Transformations", Autonomous Robots, vol. 24, no. 1, pp. 29--48, 2008. (Draft PDF)

• M. Jaimez-Tarifa, J. Gonzalez-Jimenez, J.L. Blanco, "Efficient Reactive Navigation with Exact Collision Determination for 3D Robot Shapes", International Journal of Advanced Robotic Systems, vol. 12, no. 63, 2015. (PDF)

Nodes

mrpt_reactivenav2d

Pure reactive navigation with TP-Space algorithms.