Experimental Comparison of Global Planners for Trajectory Planning of Mobile Robots in an Unknown Environment with Dynamic Obstacles
Küçük Resim Yok
Tarih
2023
Yazarlar
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Institute of Electrical and Electronics Engineers Inc.
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
Interacting with their workspace, detecting obstacles, and real-time path planning in the field to reach the goal in the unknown environment are current working areas of mobile robotics. Working in an unknown environment with dynamic obstacles is a challenging topic for autonomous robots, which need to protect themselves from the dynamic obstacles they encounter, not damage the obstacle, and re-plan their path according to their new position. This study performed an experimental comparison of three different global planners for trajectory planning of mobile robots in an unknown environment with dynamic obstacles. Global Planner, Carrot Planner, and NavfnROS planners in the ROS package were used as global planners in two different mazes with dynamic obstacles. The durations from the start to the goal point in the two designed environments were determined for each global planner. © 2023 IEEE.
Açıklama
5th International Congress on Human-Computer Interaction, Optimization and Robotic Applications, HORA 2023 -- 8 June 2023 through 10 June 2023 -- -- 190025
Anahtar Kelimeler
Dynamic Obstacles, Mobile Robots, Obstacle Avoidance, Path Planning
Kaynak
HORA 2023 - 2023 5th International Congress on Human-Computer Interaction, Optimization and Robotic Applications, Proceedings
WoS Q Değeri
Scopus Q Değeri
N/A
