[Nav2] "Regulated Pure Pursuit for Robot Path Tracking" Published in Autonomous Robots

Hi all, your Friendly Neighborhood Navigator here!

I wanted to let you know about a new paper that was recently published in Autonomous Robots describing the Regulated Pure Pursuit package in Nav2! While an incremental update to a landmark algorithm, Regulated Pure Pursuit helps provide realistic behavior so a robot can operate in deployed, safety-conscious environments. When it rains, it pours! Our paper on ROS 2 Composition was only published a couple of weeks ago to boot!

Not always do you want your robot to have flexible and dynamic behaviors; sometimes you need your systems to track a given path precisely for predictability or placing constraints on where robots may travel. If you want more dynamic and flexible robot behaviors? Try our new MPPI Controller or the DWB Local Planner! This is also very commonly used on our larger-scale Ackermann robot users who for safety reasons need to follow preplanned or kinematically feasibly computed paths closely.

Just another example of the many great capabilities you can leverage from Nav2 and how we support many different robots in many different situations! Thanks to @fmrico for experimentation and analysis & @shrijitsingh99 for co-developing the original software as part of the ROS-TSC Nav2 Working Group!

If you’re interested in getting involved in some of these cool projects, let me know! We’re always looking for more companies, students, and engineers interested in collaborating to keep pushing ROS and Nav2 into the future! :rocket:

(Free Preprint: https://lnkd.in/gQTTi2Es)