Ros

Robot navigation is a contemporary field of research in which the optimal path a robot could take has to be computed with decreased computational costs. The robot should then move as enduringly and efficiently as possible by taking the area’s different costs into consideration. The present bachelor thesis analyzes the performance of Move Base Flex and the ROS Navigation Stack into which the Grid Map library was integrated. Grid Map is a library for 2.

Mobile robots shall help and accompany us in the future in our everyday life. To do so, a robot has to navigate to specific locations, not always defined by its position but also by what one can find there. In this thesis, a possible approach to include semantic maps into navigational planning is Osnabrück was implemented. Normally, semantic maps are build using an ontology as a reasoning base. In this thesis, a database is connected with a topological graph to include semantic information in a map.