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

Mehmed Rafi Imamoglu; Ecem Sumer; Hakan Temeltas

doi:10.1109/ICRAE59816.2023.10458649

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

Mehmed Rafi Imamoglu, Ecem Sumer, Hakan Temeltas

Department of Control and Automation Engineering

Istanbul Technical University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Citations (Scopus)

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 language	English
Title of host publication	2023 8th International Conference on Robotics and Automation Engineering, ICRAE 2023
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	26-30
Number of pages	5
ISBN (Electronic)	9798350327656
DOIs	https://doi.org/10.1109/ICRAE59816.2023.10458649
Publication status	Published - 2023
Event	8th International Conference on Robotics and Automation Engineering, ICRAE 2023 - Singapore, Singapore Duration: 17 Nov 2023 → 19 Nov 2023

Publication series

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

Conference

Conference	8th International Conference on Robotics and Automation Engineering, ICRAE 2023
Country/Territory	Singapore
City	Singapore
Period	17/11/23 → 19/11/23

Bibliographical note

Publisher Copyright:
© 2023 IEEE.

Keywords

DWA
Local Planner
Omnidirectional mobile robots
ROS
TEB

Access to Document

10.1109/ICRAE59816.2023.10458649

Cite this

Imamoglu, M. R., Sumer, E., & Temeltas, H. (2023). A Comparison of Local Planner Algorithms for a ROS-based Omnidirectional Mobile Robot. In 2023 8th International Conference on Robotics and Automation Engineering, ICRAE 2023 (pp. 26-30). (2023 8th International Conference on Robotics and Automation Engineering, ICRAE 2023). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRAE59816.2023.10458649

Imamoglu, Mehmed Rafi ; Sumer, Ecem ; Temeltas, Hakan. / A Comparison of Local Planner Algorithms for a ROS-based Omnidirectional Mobile Robot. 2023 8th International Conference on Robotics and Automation Engineering, ICRAE 2023. Institute of Electrical and Electronics Engineers Inc., 2023. pp. 26-30 (2023 8th International Conference on Robotics and Automation Engineering, ICRAE 2023).

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title = "A Comparison of Local Planner Algorithms for a ROS-based Omnidirectional Mobile Robot",

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.",

keywords = "DWA, Local Planner, Omnidirectional mobile robots, ROS, TEB",

author = "Imamoglu, {Mehmed Rafi} and Ecem Sumer and Hakan Temeltas",

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language = "English",

series = "2023 8th International Conference on Robotics and Automation Engineering, ICRAE 2023",

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Imamoglu, MR, Sumer, E & Temeltas, H 2023, A Comparison of Local Planner Algorithms for a ROS-based Omnidirectional Mobile Robot. in 2023 8th International Conference on Robotics and Automation Engineering, ICRAE 2023. 2023 8th International Conference on Robotics and Automation Engineering, ICRAE 2023, Institute of Electrical and Electronics Engineers Inc., pp. 26-30, 8th International Conference on Robotics and Automation Engineering, ICRAE 2023, Singapore, Singapore, 17/11/23. https://doi.org/10.1109/ICRAE59816.2023.10458649

A Comparison of Local Planner Algorithms for a ROS-based Omnidirectional Mobile Robot. / Imamoglu, Mehmed Rafi; Sumer, Ecem ; Temeltas, Hakan.
2023 8th International Conference on Robotics and Automation Engineering, ICRAE 2023. Institute of Electrical and Electronics Engineers Inc., 2023. p. 26-30 (2023 8th International Conference on Robotics and Automation Engineering, ICRAE 2023).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - 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.

AB - 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.

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Imamoglu MR, Sumer E , Temeltas H. A Comparison of Local Planner Algorithms for a ROS-based Omnidirectional Mobile Robot. In 2023 8th International Conference on Robotics and Automation Engineering, ICRAE 2023. Institute of Electrical and Electronics Engineers Inc. 2023. p. 26-30. (2023 8th International Conference on Robotics and Automation Engineering, ICRAE 2023). doi: 10.1109/ICRAE59816.2023.10458649

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

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Keywords

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