EasyNav Simple Stack: A minimum set of plugins for a reliable navigation

• Francisco Martín Rico ^[1] ; Francisco Miguel Moreno Olivo ^[1] ; Juan Carlos Manzanares Serrano ^[1] ; José Miguel Guerrero Hernández ^[1] ; Juan Sebastián Cely Gutiérrez ^[1] ; Esther Aguado ^[1] ; Francisco José Romero Ramírez ^[1]
  1. [1] Universidad Rey Juan Carlos

     Universidad Rey Juan Carlos

     Madrid, España

     
• Localización: Proceedings of the XXV International Workshop on Physical Agents / David Herrero Pérez (ed. lit.) , Humberto Martínez Barberá (ed. lit.) , Pablo Bernal Polo (ed. lit.), Nieves Pavón Pulido (ed. lit.), 2025, ISBN 978-84-10327-06-1, págs. 27-43
• Idioma: inglés
• DOI: 10.31428/10317/21021
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• Resumen

  • Navigation is the most essential and complex capability performed by a mobile robot. In this paper, we present preliminary resultsfrom our new navigation framework, EasyNav, focusing on one of its key use cases developed to assess its feasibility: the Simple Stack. This stack is composed of a set of plugins that provide environment representation, localization, path planning, and control, each implemented using well-established algorithms. Our goal is to demonstrate the viability of the design choices made in the development of EasyNav. At the same time, the Simple Stack itself constitutes a valuable contribution, offering a clear and straightforward example of the core components required forrobust and reliable navigation. The implementation is open-source, developed in ROS 2, and has been validated both in simulation and on real differential-drive robots.