vox_nav

A navigation framework for outdoor robotics in rough uneven terrains.

Documentation is here ; https://vox-nav.readthedocs.io/en/latest/

Videos

You can download videos and see capablities of project. See all available videos under docs/assets.

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• A video with a litlle btter resolution Thorvald Navigation with vox_nav

Related Publications

If using vox_nav for scientific publications, please consider citing the following paper.

@article{DBLP:journals/corr/abs-2103-13666,
  author    = {Fetullah Atas and
               Lars Grimstad and
               Grzegorz Cielniak},
  title     = {Evaluation of Sampling-Based Optimizing Planners for Outdoor Robot
               Navigation},
  journal   = {CoRR},
  volume    = {abs/2103.13666},
  year      = {2021},
  url       = {https://arxiv.org/abs/2103.13666},
  archivePrefix = {arXiv},
  eprint    = {2103.13666},
  timestamp = {Wed, 07 Apr 2021 15:31:46 +0200},
  biburl    = {https://dblp.org/rec/journals/corr/abs-2103-13666.bib},
  bibsource = {dblp computer science bibliography, https://dblp.org}
}

Run in Docker

Build with the image with:

docker build -t lcas.lincoln.ac.uk/lcas/vox_nav:docker .

Run with:

docker-compose up

Open a browser and type: localhost:6080

Kill with:

docker-compose down

Credits

• A lot of architectural aspects of this project has been inspired by the Navigation2.. We greatly appreciate the efforts of Navigation2. community for providing such high quality software design to Robotics community.

• This systems relies on libraries e.g. OMPL, Casadi, Octomap and many more, they cant all be listed here, we appriciate and recognize the efforts of people involved in development of these libraries.