| Title: | OS10-5 DistBug path planning algorithm package for ROS Noetic |
|---|---|
| Publication: | ICAROB2024 |
| Volume: | 29 |
| Pages: | 286-289 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2024.OS10-5 |
| Author(s): | Alexander Pak, Alexander Eremin, Tatyana Tsoy |
| Publication Date: | February 22, 2024 |
| Keywords: | BUG algorithm, path planning, sensor-based navigation |
| Abstract: | Algorithms of path-planning in an unknown environment play an important role in robotics. They do not require a prior information about obstacles' locations around a robot and allow calculating a path in a real time. This article presents an implementation of a sensory-based DistBug algorithm, which operates reactively using range data for immediate decision-making without constructing a world model. The algorithm was programmed in Python using robot operating system (ROS) and validated in the Gazebo simulator. For virtual experiments Turtlebot 3 Burger mobile robot was employed. The experiments were conducted in two types of environment: an environment with convex obstacles and a maze. The paper demonstrates analysis of experiments using several standard criteria of a path quality estimation. |
| PDF File: | https://alife-robotics.co.jp/members2024/icarob/data/html/data/OS/OS10-5.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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