Robust Collision-free Lightweight Local Planner for Unknown Area Exploration
- Clone the package:
git clone https://github.com/SunggoJung/local_planner_ros
- Build the package:
catkin build -DCMAKE_BUILD_TYPE=ReleaseWidtDebInfo
However, please be aware that the planner requires several dependencies; for example:
- Mapping framework: Cartographer_ROS
- MAV simulation: Gazebo
If you use this work in your research, please cite the following publication.
@article{jung2021robust,
title={Robust Collision-free Lightweight Local Planner for Unknown Area Exploration},
author={Jung, Sunggoo and Lee, Hanseob and Shim, David Hyunchul and Agha-mohammadi, Ali-akbar},
journal={arXiv preprint arXiv:2103.05798},
year={2021}
}
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