Abstract
In robotics studies, problems can be given as mapping, location estimation, exploration and navigation. Navigation problem; It can be subdivided into path planning, path tracking and obstacle avoidance. In the study, in the Gazebo simulation environment, a 4-wheel robot and a laser distance sensor were used. 2D mapping, path planning and path following with respect to the 2D map are implemented on Robot Operating System (ROS). Potential-based path planning was compared with the A* algorithm. Potential-based path tracking was compared with the dynamic window approach (DWA). In tests conducted in the Gazebo simulation environment, it was observed that the potential-based approach yielded successful results in path planning and path tracking.
Keywords
Motion planning
Any-angle path planning
Path (computing)
Obstacle avoidance
Computer science
Tracking (education)
Computer vision
Obstacle
Artificial intelligence
Robotics
Field (mathematics)
Potential field
Trajectory
Robot
Real-time computing
Mobile robot
Mathematics
Geography
Physics
Subject Areas
Robotic Path Planning Algorithms
·Computer Vision and Pattern Recognition ·Physical Sciences
Robotics and Sensor-Based Localization
·Aerospace Engineering ·Physical Sciences
Control and Dynamics of Mobile Robots
·Control and Systems Engineering ·Physical Sciences
Citations by Year
2023: 3
2024: 2
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