Ideation

The project came to fruition when one of our teammate remarked that some added
feature to the navigation stack would be useful. The navigation stack could help us
map our surrounding from the sensors embedded on the underwater vehicle. However
after further exploration of the navigation stack, we came to mind that some features
could be added to ease its application. Among some of the ideas we have include
extending the amcl to include 3 mapping so that its application could be more
viable for underwater and airborne vehicle . !e also aim to help fix bugs and flaws
to improve ease of application b" others.
#ser $tor"
%ur target group is primaril" the &%$ communit", which we hope to improve the
stabilit" of the navigation stack. 'esides that, some of the users of &%$ in (oogle
group has shared that features such as improve the ease of adding obstacle into the
obstacle topic. )oreover, the users would like to have abilit" to send set points
besides the default velocit" commands. )ost projects use *I based s"stems that can
benefit tremendousl" from this improvement
*lanned +eatures
,. -xtend navigation stack to include 3 mapping
.. Add abilit" to send set points to navigation map
Here are some of screenshots of navigation map running on rvi/0
&eferences0
https011groups.google.com1forum123forum1ros4sig4navigation
https011github.com1ros4planning1navigation
http011wiki.ros.org1amcl
http011en.wikipedia.org1wiki1$imultaneous5locali/ation5and5mapping
*lanned +eatures
&eferences