Liangxu Linux

Feb 7, 2025 · Artificial Intelligence

How Robots Navigate Homes: Inside the Nav2 Autonomous Navigation Framework

Robotic vacuum cleaners use SLAM to map unknown homes, then rely on the ROS 2 Nav2 framework—comprising global and local planners, controllers, smoothers, and AMCL localization—to plan optimal paths, avoid dynamic obstacles, and generate velocity commands, with algorithms like Dijkstra, A*, DWA, and TEB explained.