Скачать или смотреть Custom Nav2 Global Planner and DWA-Based Controller Experiment | ROS 2 Mobile Robot

This video demonstrates the experimental implementation of a custom Nav2 navigation pipeline on a differential-drive mobile robot using ROS 2.

The system features a custom global planner plugin based on the A* algorithm and a custom local controller implementing a Dynamic Window Approach (DWA)-based control strategy. The navigation pipeline follows the standard Nav2 architecture, including the Costmap Server, Planner Server, Smoother Server, and Controller Server.

Key contributions:
Custom global planner plugin integrated into Nav2 Planner Server
Custom DWA-based local controller plugin for motion control
Global 2D costmap with static, obstacle, and inflation layers
Path smoothing using Nav2 Smoother Server
Real-world experimental validation on a differential-drive mobile robot

This experiment validates the proposed navigation architecture and custom plugins through real-world robot deployment.

🔗 Source code:
https://github.com/NhatTran-97/EIU-FA...