Local planning methods for autonomous navigation on sidewalks: a comparative survey

Gomez-Ayalde, Daniela and Romero Cano, Victor A. ORCID: https://orcid.org/0000-0003-2910-5116 2022. Local planning methods for autonomous navigation on sidewalks: a comparative survey. Presented at: ColCACI 2022: Colombian Conference on Applications of Computational Intelligence, 27-29 July 2022. 2022 IEEE Colombian Conference on Applications of Computational Intelligence (ColCACI). IEEE, pp. 1-6. 10.1109/ColCACI56938.2022.9905339

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Abstract

This paper presents a comparative survey of autonomous navigation systems for mobile robots on sidewalks. The kinds of systems mentioned above endow robots with the capability of estimating an optimal trajectory that once followed, allows the robot to move autonomously from a current pose to a target pose on a sidewalk. In addition, they allow avoiding both static and dynamic obstacles reliably and efficiently. An autonomous navigation system functions on data from multiple sensors and a global representation of the environment in which it is located, and allows the robot to perform its motion task satisfactorily without leaving the sidewalk on which it is moving.It is important to mention that an intense search of the state of the art was made around the existing autonomous navigation algorithms. Finally, different tools are mentioned such as ROS2 middleware, the Gazebo simulation program and the Rviz2 visualization program.

Item Type:	Conference or Workshop Item (Paper)
Date Type:	Published Online
Status:	Published
Schools:	Computer Science & Informatics
Publisher:	IEEE
Date of First Compliant Deposit:	8 March 2024
Date of Acceptance:	1 July 2022
Last Modified:	18 Mar 2024 11:45
URI:	https://orca.cardiff.ac.uk/id/eprint/167063

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