How does navigation stack work without a static map?
Hello!
I have been searching but haven't found out how navigation stack works when no static map is given. My questions are:
- Can AMCL be run without a static map? If not, how is localization done?
- How are you able to put in a goal position for the robot without a map?
- How is the global planning done without knowledge of the environment (the global costmap must be empty)?
If there are any papers about this that I haven't found please link to them.
Thanks!!
Asked by hannesjk on 2019-05-10 02:59:52 UTC
Answers
AMCL is a Localization algorithm, i.e. it requires a map in order to compute the most likely pose of the robot.
If you don't have a map of the environment, you need a SLAM (Simultaneous Localization and Mapping) algorithm to build it. This allows the robot to incrementally build the map as it explores the environment. This exploration can be driven by human controls (i.e. joystick), it can be done moving randomly or it can use exploration algorithms (frontier-based exploration is the simplest).
Theoretically, you can move to a goal position without a map, but this is not path planning as the robot will simply move in a straight line toward the goal, because with no map there are no obstacles. From a practical point of view I think that most system will not allow you to do that.
Here some resources on SLAM with ROS Navigation Stack
http://wiki.ros.org/navigation#Navigation_Tutorials_for_the_TurtleBot
You can look for papers on SLAM, autonomous exploration, frontier-based exploration
Asked by alsora on 2019-05-10 05:32:16 UTC
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