CautiousBug path planning algorithm package for ROS Noetic

M. Roman; Eryomin A.; Tsoy T.; E. Magid

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CautiousBug path planning algorithm package for ROS Noetic

P. 184–186.

Roman M., Eryomin A., Tsoy T., Magid E.

The problem of robot navigation in unknown environments can be addressed without using a ready map or constructing a new one. The Bug family algorithms focus on sensor odometry data. The CautiousBug algorithm stands out from the rest of the algorithms by a considerable property: as its name implies, it does not make risky decisions that can lead to serious deterioration in performance indicators. This difference allows it to compete with other algorithms, whose errors in some cases lead to a significant increase in a trajectory length. This paper presents a practical implementation of the highly theoretical CautiousBug algorithm within the Noetic distribution of the Robotic Operating System (ROS).

Language: English

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Keywords: ROS path planning algorithm CautiousBug

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ИНФОРМАЦИОННЫЕ ТЕХНОЛОГИИ И ТЕХНИЧЕСКИЕ СРЕДСТВА УПРАВЛЕНИЯ (ICCT-2024)

М.: Институт проблем управления им. В.А. Трапезникова РАН, 2024.

Implementation and Validation of the CautiousBug Algorithm in ROS Noetic

Roman M., Eryomin A., Tsoy T. et al., , in: 2024 8th International Conference on Information, Control, and Communication Technologies (ICCT).: IEEE, 2024. Ch. 51 P. 1–4.

In this paper, we present an implementation of the CautiousBug algorithm within the Noetic distribution of the Robot Operating System (ROS). Bug algorithms address a challenge of robot navigation in unknown environments without relying on pre-existing maps or constructing new ones. These algorithms utilize odometry data, operate without a map, require minimal computational resources, and can ...

Added: May 28, 2025

A Comparison of Different Hybrid Path Planning Algorithms for a Mobile Platform

Sulaiman S., Sudheer A. P., Magid E., , in: 2024 4th International Conference on Computer, Control and Robotics (ICCCR).: IEEE, 2024. P. 269–273.

Mobile robots with wheeled, legged and hybrid bases are currently used in industrial and service sectors for diverse applications. In this paper, a comparative study of various hybrid path planning algorithms for avoiding static obstacles were carried out for determining a most efficient path planning algorithm for a given task. A modified Probabilistic Road Map ...

Added: February 19, 2025

Distributed Control and Navigation System for Quadrotor UAVs in GPS-Denied Environments

Yakovlev K., Khithov V., Loginov M. et al., , in: Intelligent Systems'2014 - Proceedings of the 7th IEEE International Conference Intelligent Systems IS'2014, September 24-26, 2014, Warsaw, Poland, Volume 2: Tools, Architectures, Systems, ApplicationsТ. 323.: Springer, 2015. P. 49–56.

The problem of developing distributed control and navigation system for quadrotor UAVs operating in GPS-denied environments is addressed in the paper. Cooperative navigation, marker detection and mapping task solved by a team of multiple unmanned aerial vehicles is chosen as demo example. Developed intelligent control system complies with on 4D\RCS reference model and its implementation ...

Added: April 27, 2015