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 dil | İngilizce |
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Ana bilgisayar yayını başlığı | 2023 8th International Conference on Robotics and Automation Engineering, ICRAE 2023 |
Yayınlayan | Institute of Electrical and Electronics Engineers Inc. |
Sayfalar | 26-30 |
Sayfa sayısı | 5 |
ISBN (Elektronik) | 9798350327656 |
DOI'lar | |
Yayın durumu | Yayınlandı - 2023 |
Etkinlik | 8th International Conference on Robotics and Automation Engineering, ICRAE 2023 - Singapore, Singapore Süre: 17 Kas 2023 → 19 Kas 2023 |
Yayın serisi
Adı | 2023 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 |
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Ülke/Bölge | Singapore |
Şehir | Singapore |
Periyot | 17/11/23 → 19/11/23 |
Bibliyografik not
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