A Study on Global Path Planners Algorithms for the Simulated TurtleBot 3 Robot in ROS

  • Pedro Brasil UFSM
  • Fabio Pereira UFSM
  • Marco Antonio Cuadros IFES
  • Anselmo Rafael Cukla UFSM
  • Daniel Fernando Gamarra UFSM

Resumo


This article aims to study global path planners algorithms using a mobile robot in the ROS (Robot Operating System) framework. Experiments were carried out in different environments, aiming to apply the Dijkstra and A* algorithms in simulation. The tests were performed with the robot TurtleBot 3 Burger, which runs using open source software. Location and orientation data from the sensors of the robot were stored. After analyzing the results, there was a slight superiority of Dijkstra algorithm from the ROS libraries, in relation to the A* algorithm in the environments with obstacles.
Palavras-chave: Robots, Heuristic algorithms, Mobile robots, Software algorithms, Navigation, Trajectory planning, Planning, ROS, Dijkstra, A*, TurtleBot
Publicado
09/11/2020
BRASIL, Pedro; PEREIRA, Fabio; CUADROS, Marco Antonio; CUKLA, Anselmo Rafael; GAMARRA, Daniel Fernando. A Study on Global Path Planners Algorithms for the Simulated TurtleBot 3 Robot in ROS . In: SIMPÓSIO BRASILEIRO DE ROBÓTICA E SIMPÓSIO LATINO AMERICANO DE ROBÓTICA (SBR/LARS), 17. , 2020, Natal. Anais [...]. Porto Alegre: Sociedade Brasileira de Computação, 2020 . p. 144-149.