David V Lu (Locus Robotics)
roscon.ros.org/2017/
This talk explores the fundamental concepts of local planners, and how different assumptions and implementations affect the robot behavior. We also present a modular local planner which breaks the monolithic dwa_local_planner into cleaner independent components that can be loaded as plugins. By mapping the fundamental concepts of local planning to different modules, our planner presents a more gradual learning curve, a higher degree of customizability and increased debugging/introspection power.
