Abstract
This work addresses some limitations encountered when developing autonomous robotic systems for resource-constrained industrial applications in Robotic Operating System (ROS). A new version of the map used for local navigation is proposed to augment the visibility horizon of the robot. During robot navigation, new obstacles appearing in the scenario may lead the robot to deadlock situations, getting the robot stuck trying to reach an unreachable waypoint. Several strategies are implemented to deal with these situations and achieve a robust navigation. The solutions proposed are validated in simulation and real experimentation.
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Acknowledgments
This work has been supported by the Spanish Project “Máquina Autónoma Robotizada para Limpieza Industrial” (IDI-20220063).
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Lorente, MT., Montano, L., Lázaro, M.T. (2023). Advanced Waypoint Navigation Strategies for Autonomous Mobile Robots in Industrial Settings. In: Tardioli, D., Matellán, V., Heredia, G., Silva, M.F., Marques, L. (eds) ROBOT2022: Fifth Iberian Robotics Conference. ROBOT 2022. Lecture Notes in Networks and Systems, vol 590. Springer, Cham. https://doi.org/10.1007/978-3-031-21062-4_44
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DOI: https://doi.org/10.1007/978-3-031-21062-4_44
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