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This work focuses on the analysis and bench- marking of the mrpt_navigation ROS package. The package includes a reactive navigation method based on Trajectory Parameter Space (TP-Space) transformations, together with other nodes such as an alternative particle-filter localization system. A description of its structure and methods in which it is based will be performed. To validate the suitability of the package, tests are performed with a mobile robot with strong kinematic constraints (Ack- erman steering) and the result will be compared with the navigation ROS package, a standard for robots autonomous navigation.

A ROS reactive navigation system for ground vehicles based on tp-space transformations