论文标题
GenNAV：任何移动机器人的通用室内导航系统
GenNav: A Generic Indoor Navigation System for any Mobile Robot
论文作者
论文摘要
导航系统是其组成的任何移动机器人的核心，包括SLAM和PATH计划单元，该单元被机器人用于生成环境地图，本地化自身并确定到达目的地的最佳路径。本文介绍了GenNAV的概念化，开发，模拟和硬件实现，用于任何移动空中机器人或地面机器人的通用室内导航系统。通过在软件计算和硬件驱动单元之间进行模块化和创造独立性来实现概括，从LIDAR中提供替代来源，从而消除了对专用探针传感器的要求。导航计算单元可以使用LIDAR的进程反馈，并且可以将系统推广到多种机器人，并具有不同类型的执行器和方向
The navigation system is at the heart of any mobile robot it comprises of SLAM and path planning units, which is utilized by the robot to generate a map of the environment, localize itself within it and determine an optimal a path to the destination. This paper describes the conceptualization, development, simulation and hardware implementation of GenNav a generic indoor navigation system for any mobile aerial or ground robot. The generalization is brought about by modularizing and creating independence between the software computation and hardware actuation units by providing an alternate source of odometry from the LiDAR eliminating the requirement for dedicated odometry sensors. The odometry feedback from the LiDAR can be used by the navigation computation unit and the system can be generalized to a wide variety of robots, with different type and orientation of actuators
