Experimental Comparison of Global Planners for Trajectory Planning of Mobile Robots in an Unknown Environment with Dynamic Obstacles

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dc.contributor.authorTufekci, Z.
dc.contributor.authorErdemir, G.
dc.date.accessioned2024-05-19T14:33:54Z
dc.date.available2024-05-19T14:33:54Z
dc.date.issued2023
dc.departmentİstinye Üniversitesien_US
dc.description5th International Congress on Human-Computer Interaction, Optimization and Robotic Applications, HORA 2023 -- 8 June 2023 through 10 June 2023 -- -- 190025en_US
dc.description.abstractInteracting 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.en_US
dc.identifier.doi10.1109/HORA58378.2023.10156807
dc.identifier.isbn9798350337525
dc.identifier.scopus2-s2.0-85165681185en_US
dc.identifier.scopusqualityN/Aen_US
dc.identifier.urihttps://doi.org/10.1109/HORA58378.2023.10156807
dc.identifier.urihttps://hdl.handle.net/20.500.12713/4364
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherInstitute of Electrical and Electronics Engineers Inc.en_US
dc.relation.ispartofHORA 2023 - 2023 5th International Congress on Human-Computer Interaction, Optimization and Robotic Applications, Proceedingsen_US
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.snmz20240519_kaen_US
dc.subjectDynamic Obstaclesen_US
dc.subjectMobile Robotsen_US
dc.subjectObstacle Avoidanceen_US
dc.subjectPath Planningen_US
dc.titleExperimental Comparison of Global Planners for Trajectory Planning of Mobile Robots in an Unknown Environment with Dynamic Obstaclesen_US
dc.typeConference Objecten_US

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