Advanced Waypoint Navigation Strategies for Autonomous Mobile Robots in Industrial Settings

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.