| Title: | OS10-4 Implementation of VisBug-21 and VisBug-22 Path Planning Algorithms Using ROS Noetic |
|---|---|
| Publication: | ICAROB2024 |
| Volume: | 29 |
| Pages: | 281-285 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2024.OS10-4 |
| Author(s): | Viktoriia Mirzoian, Maksim Mustafin, Evgeni Magid |
| Publication Date: | February 22, 2024 |
| Keywords: | Path-Planning, Mobile Robots, Local Navigation, VisBug-21, VisBug-22, Gazebo, ROS Noetic |
| Abstract: | Local navigation algorithms are crucial for autonomous robots operating in unknown environments where a presence of obstacles and dynamic changes pose significant challenges. A focus of these algorithms is to enable a real-time path calculation, allowing a robot to adapt its states dynamically based on corresponding environmental conditions, despite an absence of prior knowledge about surroundings. This paper presents an implementation of the VisBug-21 and VisBug-22 algorithms, designed to address challenges of a local navigation. The algorithms were implemented for a differential drive robot Turtlebot3 Burger using Robot Operation System (ROS). Virtual experiments were performed in the Gazebo simulator employing a simple 3D environment that contained only convex obstacles and a small 3D maze. |
| PDF File: | https://alife-robotics.co.jp/members2024/icarob/data/html/data/OS/OS10-4.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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