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, Page: 156-161
2019
- 8Citations
- 14Captures
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Example: if you select the 1-year option for an article published in 2019 and a metric category shows 90%, that means that the article or review is performing better than 90% of the other articles/reviews published in that journal in 2019. If you select the 3-year option for the same article published in 2019 and the metric category shows 90%, that means that the article or review is performing better than 90% of the other articles/reviews published in that journal in 2019, 2018 and 2017.
Citation Benchmarking is provided by Scopus and SciVal and is different from the metrics context provided by PlumX Metrics.
Conference Paper Description
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%.
Bibliographic Details
Institute of Electrical and Electronics Engineers (IEEE)
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