| Title: | OS10-3 Implementation of Alg1 and Alg2 Path Planning Algorithms for Mobile Robots Using ROS Noetic |
|---|---|
| Publication: | ICAROB2024 |
| Volume: | 29 |
| Pages: | 276-280 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2024.OS10-3 |
| Author(s): | Anastasia Yankova, Timur Gamberov, Tatyana Tsoy |
| Publication Date: | February 22, 2024 |
| Keywords: | path planning, mobile robots, local navigation, Alg1, Alg2, Gazebo, ROS Noetic |
| Abstract: | Two standard approaches for a robot path planning include a global and a local navigation. The later does not require to store an environment model in a robot memory. This paper presents implementations of two local navigation algorithms, Alg1 and Alg2, with a robot having no prior information about an environment and obstacles. It calculates a path in a real time, continuously changing its states depending on correspondent conditions. The algorithms were implemented for an existing differential drive robot Turtlebot3 Burger using Robot Operation System (ROS). Virtual experiments were performed in the Gazebo simulator employing a simple 3D environment with only convex obstacles and a small 3D maze. |
| PDF File: | https://alife-robotics.co.jp/members2024/icarob/data/html/data/OS/OS10-3.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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