A Comparison of Local Planner Algorithms for a ROS-based Omnidirectional Mobile Robot

Mehmed Rafi Imamoglu, Ecem Sumer, Hakan Temeltas

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

The topic of local planner algorithms applicable to omnidirectional mobile robots is yet to thoroughly investigated. This study investigates the performance of the most commonly implemented local planner algorithms for omnidirectional mobile robots by conducting a comparative analysis between the Dynamic Window Approach (DWA) and the Timed Elastic Band (TEB) algorithms. The evaluation was conducted within real-world settings, specifically targeting the challenges of parking maneuvers, dynamic obstacle avoidance and turning maneuvers. Performance metrics, tailored to each scenario, were employed to assess the algorithms. The results demonstrate that the TEB method outperforms the DWA in the tested conditions.

Original languageEnglish
Title of host publication2023 8th International Conference on Robotics and Automation Engineering, ICRAE 2023
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages26-30
Number of pages5
ISBN (Electronic)9798350327656
DOIs
Publication statusPublished - 2023
Event8th International Conference on Robotics and Automation Engineering, ICRAE 2023 - Singapore, Singapore
Duration: 17 Nov 202319 Nov 2023

Publication series

Name2023 8th International Conference on Robotics and Automation Engineering, ICRAE 2023

Conference

Conference8th International Conference on Robotics and Automation Engineering, ICRAE 2023
Country/TerritorySingapore
CitySingapore
Period17/11/2319/11/23

Bibliographical note

Publisher Copyright:
© 2023 IEEE.

Keywords

  • DWA
  • Local Planner
  • Omnidirectional mobile robots
  • ROS
  • TEB

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