Navigation

Navigation combines localization, planning, and feedback control to move a mobile robot through its environment. This chapter focuses on how those components work together during execution.

Topics include:

• Navigation goals, waypoints, and reference frames.
• Occupancy maps, costmaps, and obstacle avoidance.
• Global planning, local planning, and path following.
• Goal tolerances, replanning, recovery behaviors, and evaluation.

Shared planning algorithms belong in Motion Planning, and tracking-controller foundations belong in Control. SLAM covers the localization and mapping inputs used by the navigation system.