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