An Event-Based Approach to Autonomous Navigation

Autonomous navigation has reached commercial application in a wide range of fields. Many of these applications use a similar approach to deal with the navigation task at hand, using a cyclic based planning approach. These approaches are robust to environmental changes, but require a lot of resources even when nothing happens in the environment. Therefore, in this paper we propose an alternative approach for autonomous navigation. The presented approach uses an event-based planning approach. This approach triggers replanning only when specific events occur, instead of the continuous replanning of the cyclic based approaches.
We demonstrate the effectiveness of our method in the ELROB field trials and compare it with traditional cyclic planning methods using ROS. The results show that our event-based approach can reduce computation time and increase the robustness of autonomous navigation.