Accuracy comparison of navigation local planners on ROS-based mobile robot

被引：0

作者：

Cybulski, B. ^{[1
,2
]}

Wegierska, A. ^{[1
,2
]}

Granosik, G. ^{[1
]}

机构：

[1] Lodz Univ Technol, Inst Automat Control, Lodz, Poland

[2] Lodz Univ Technol, Lodz, Poland

来源：

2019 12TH INTERNATIONAL WORKSHOP ON ROBOT MOTION AND CONTROL (ROMOCO '19) | 2019年

关键词：

D O I：

10.1109/romoco.2019.8787346

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The aim of this work is to investigate and analyze the performance of ROS-based navigation local planners in a simulated environment and on a real research platform the TurtleBot 3 mobile robot. Three planners were subject to the study: DWA, EBand and TEB; the accuracy and repeatability were measured for position and orientation of the robot, as well as time of travel. Tests were based on continuous movements between three waypoints placed in a confined space, in both static and dynamic environments. The motion capture system based on AR tags was used in the real world. The obtained results do not indicate a specific comparison winner. All tested planners in most cases met their requirements.

引用

页码：104 / 111

页数：8

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