NavGround is a comprehensive AI-driven navigation framework that delivers reactive motion planning, obstacle avoidance, and trajectory generation for differential drive and holonomic robots in 2D environments. It integrates dynamic map representations and sensor fusion to detect static and moving obstacles, applying velocity obstacle methods to compute collision-free velocities adhering to robot kinematics and dynamics. The lightweight C++ library offers a modular API with ROS support, enabling seamless integration with SLAM systems, path planners, and control loops. NavGround’s real-time performance and on-the-fly adaptability make it suitable for service robots, autonomous vehicles, and research prototypes operating in cluttered or dynamic scenarios. The framework’s customizable cost functions and extensible architecture facilitate rapid experimentation and optimization of navigation behaviors.
