Module: NavigatorReactivePTG3D


Module info:

Module name Short description Publishes Subscribes
NavigatorReactivePTG3D A generic reactive navigator with 3D obstacles. GRIDPOINTS , MORA_GLOBAL_LOG , MOTION_CMD_V , MOTION_CMD_W , NAV_EVENT_END , NAV_EVENT_ERROR , NAV_EVENT_NOWAY , NAV_EVENT_START , NECKMSG , SHUTDOWN CANCEL , EST_GOODNESS , IRD_WARNING , KINECT1 , LASER1 , LASER2 , LOCALIZATION , NAVIGATE_TARGET , PNAVIGATORREACTIVEPTG3D_CMD , SHUTDOWN

MOOS commands accepted by the module:

Parameters accepted in the MOOS mission file:
Parameter Description
HEIGHT_LEVELS Number of heights to define the robot geometry (3D)
LEVEL(X)_HEIGHT The height of the (X) plane defining the robot geometry
LEVEL(X)_VECTORX Vector of Xcoordinate points defining the robot geometry at height (X)
LEVEL(X)_VECTORY Vector of Ycoordinate points defining the robot geometry at height (X)
Likelihood_threshold
LOG_DECIMATION
Memory_on
Neg_likelihood_incr
Obs_grid_length
Obs_grid_resolution
Occupancy_threshold
Opengl_scene
PHI0 The initial robot angle in degrees
Pos_likelihood_incr
robotID The unique identifier of the robot (common parameter).
ROBOTMODEL_DELAY The delay until robot reaction
Vision_limit
VMAX_MPS The max robot linear speed
VMIN_MPS
Vred_a
Vred_b
WMAX_DEGPS The max robot angular speed
WMIN_DEGPS
X0 The initial robot location
Y0 The initial robot location

Detailed description:
A generic reactive navigator with 3D obstacles.This module is a wrapper to the MRPT navigator class mrpt::reactivenav::CReactiveNavigationSystem .
The internal algorithm is a purely reactive method (the Nearness Diagram Navigation) within one or moreParameterized Trajectory Generators (PTG) that abstract the robot shape and kinematic restrictions.

Module graph:
NavigatorReactivePTG3D

TODO list:
(None)


Changes log:
(None)



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