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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: ROSpath planning algorithmCautiousBug

In book

ИНФОРМАЦИОННЫЕ ТЕХНОЛОГИИ И ТЕХНИЧЕСКИЕ СРЕДСТВА УПРАВЛЕНИЯ (ICCT-2024)
ИНФОРМАЦИОННЫЕ ТЕХНОЛОГИИ И ТЕХНИЧЕСКИЕ СРЕДСТВА УПРАВЛЕНИЯ (ICCT-2024)
М.: Институт проблем управления им. В.А. Трапезникова РАН, 2024.
Similar publications
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
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