The Mobile Robot Programming Toolkit

Overview

MRPT comprises several classes related to obstacle avoidance or reactive navigation:

For realistic robots:

• The PTG-based reactive navigation engine, which internally employs one of the holonomic navigators below.
• The complete GUI simulator: ReactiveNavigationDemo.

For holonomic robots (i.e. can move in any direction):

• Nearness-Diagram implementation
• VFF (Virtual Force Fields or Potential Fields).

References

• Blanco, J., González, J., and Fernández-Madrigal, J. 2008. Extending obstacle avoidance methods through multiple parameter-space transformations. Auton. Robots 24, 1 (Jan. 2008), 29-48. DOI= http://dx.doi.org/10.1007/s10514-007-9062-7
• Nearness diagram (ND) navigation: collision avoidance in troublesome scenarios, IEEE Transactions on Robotics and Automation, Minguez, J. and Montano, L., vol. 20, no. 1, pp. 45-59, 2004.