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

Mehmed Rafi Imamoglu, Ecem Sumer, Hakan Temeltas

Araştırma sonucu: Kitap/Rapor/Konferans Bildirisinde BölümKonferans katkısıbilirkişi

2 Atıf (Scopus)

Özet

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.

Orijinal dilİngilizce
Ana bilgisayar yayını başlığı2023 8th International Conference on Robotics and Automation Engineering, ICRAE 2023
YayınlayanInstitute of Electrical and Electronics Engineers Inc.
Sayfalar26-30
Sayfa sayısı5
ISBN (Elektronik)9798350327656
DOI'lar
Yayın durumuYayınlandı - 2023
Etkinlik8th International Conference on Robotics and Automation Engineering, ICRAE 2023 - Singapore, Singapore
Süre: 17 Kas 202319 Kas 2023

Yayın serisi

Adı2023 8th International Conference on Robotics and Automation Engineering, ICRAE 2023

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???event.eventtypes.event.conference???8th International Conference on Robotics and Automation Engineering, ICRAE 2023
Ülke/BölgeSingapore
ŞehirSingapore
Periyot17/11/2319/11/23

Bibliyografik not

Publisher Copyright:
© 2023 IEEE.

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