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ROS-based navigation in unknown environment with TangentBug Algorithm: issues of practical usage

Ch. 134040X.
Gorokhov L., Safin R., Magid E.

Path planning Bug algorithms play a crucial role in addressing the problem of navigating through unknown environments. This paper presents a practical implementation of the TangentBug algorithm within the Robot Operating System along with a discussion of encountered issues of practical usage. The TangentBug algorithm uses data from laser and odometry sensors to construct locally optimal paths without complete knowledge of an entire environment. Virtual experiments were conducted to evaluate performance of the algorithm within the Gazebo 3D world simulation environment and RViz visualisation software using the TurtleBot 3 Burger robot. Virtual environments included simple convex and concave obstacles, and maze configurations. The developed code is provided as an open source for non-commercial academic use.
 

Language: English
DOI
Text on another site
Keywords: ROSpath planninglocal navigationTangentBugSensor-based Navigation

In book

Proceedings Volume 13404, Fifth International Conference on Control, Robotics, and Intelligent System (CCRIS 2024)
SPIE, 2024.
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