Performance evaluation of ROS local trajectory planning algorithms to social navigation

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dc.contributor.authorPIMENTEL, F.
dc.contributor.authorPlinio Thomaz Aquino Junior
dc.contributor.authorOrcidhttps://orcid.org/0000-0002-5100-7443
dc.date.accessioned2022-01-12T21:56:04Z
dc.date.available2022-01-12T21:56:04Z
dc.date.issued2019-10-05
dc.description.abstract© 2019 IEEE.Accuracy and safety are necessary characteristics in social navigation and still constitute a challenge. The ROS Navigation Stack (RNS) allows the variation of local path planning methods through plugins for navigation. This paper brings you the comparison of those methods, which are directly connected with the safety and naturalness of the robot. Therefore, four different methods were compared by varying the sensors and the simulated environment. A thousand experiments were performed for each combination using the standard parameters of each method in a total of 24000 experiments. This paper concluded that the Elastic Band (EBand) method presents more safety and accuracy than the Dynamic window approach (DWA), method commonly used in several robots that participate in RoboCup@home, so it is more suitable for social navigation - reaching 90% accuracy in some cases and collision rate below 5%.
dc.description.firstpage156
dc.description.lastpage161
dc.identifier.citationPIMENTEL, F.; AQUINO JUNIOR, P. T. Performance evaluation of ROS local trajectory planning algorithms to social navigation. Proceedings - 2019 Latin American Robotics Symposium, 2019 Brazilian Symposium on Robotics and 2019 Workshop on Robotics in Education, LARS/SBR/WRE 2019, p. 156-161, oct. 2019.
dc.identifier.doi10.1109/LARS-SBR-WRE48964.2019.00035
dc.identifier.urihttps://repositorio.fei.edu.br/handle/FEI/3699
dc.relation.ispartofProceedings - 2019 Latin American Robotics Symposium, 2019 Brazilian Symposium on Robotics and 2019 Workshop on Robotics in Education, LARS/SBR/WRE 2019
dc.rightsAcesso Restrito
dc.subject.otherlanguagePath planning
dc.subject.otherlanguagePerformance evaluation
dc.subject.otherlanguageROS
dc.titlePerformance evaluation of ROS local trajectory planning algorithms to social navigation
dc.typeArtigo de evento
fei.scopus.citations8
fei.scopus.eid2-s2.0-85082176083
fei.scopus.subjectCollision rate
fei.scopus.subjectDynamic window approach
fei.scopus.subjectElastic bands
fei.scopus.subjectLocal path-planning
fei.scopus.subjectPerformance evaluation
fei.scopus.subjectSimulated environment
fei.scopus.subjectSocial navigation
fei.scopus.subjectTrajectory planning algorithm
fei.scopus.updated2024-07-01
fei.scopus.urlhttps://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85082176083&origin=inward
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