Design Navigation Stack
30 minutesSelect sensors for localization, mapping, and path planning layers of the navigation stack.
Field context
This workflow is part of 4 niche fields
Complete guide for mobile robot navigation — step-by-step workflow, tools, checklist, and expert tips to get started.
Select sensors for localization, mapping, and path planning layers of the navigation stack.
Size wheel odometry resolution, lidar update rate, and ultrasonic range for environment.
Mount encoders, IMU, and lidar; wire to compute platform and configure ROS navigation nodes.
Drive mapping run, verify localization accuracy, test path planning to goal points.
Calibrate wheel odometry for accurate dead reckoning.
Set proximity sensor thresholds for obstacle detection range.
Verify lidar scan density meets SLAM algorithm requirements.
Confirm max navigation speed stays within sensor update rate limits.
Key benchmarks for mobile robot navigation.
| Layer | Sensor | Output |
|---|---|---|
| Localization | Wheel enc + IMU | Pose |
| Mapping | Lidar | Occupancy grid |
| Planning | Map + goal | Path |
Map the environment manually before enabling autonomous navigation — bad maps cause collisions.
Wheel odometry alone drifts 5-10% — always fuse with IMU and lidar for reliable localization.
Test navigation algorithms in Gazebo or Webots before running on hardware — saves repair costs.