Obstacle avoidance algorithm in mobile robot motion
A method has been proposed, and a computer program has been developed for simulating obstacle avoidance by a robotic system. To expand the mobility capabilities of the robotic system, the algorithm combines the core elements of the vfh algorithm and our previously developed algorithm I [1], and is p...
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| Format: | Article |
| Language: | English |
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Belarusian National Technical University
2024-12-01
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| Series: | Системный анализ и прикладная информатика |
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| Online Access: | https://sapi.bntu.by/jour/article/view/703 |
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| _version_ | 1849338607451504640 |
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| author | A. V. Sidorenko N. A. Saladukha |
| author_facet | A. V. Sidorenko N. A. Saladukha |
| author_sort | A. V. Sidorenko |
| collection | DOAJ |
| description | A method has been proposed, and a computer program has been developed for simulating obstacle avoidance by a robotic system. To expand the mobility capabilities of the robotic system, the algorithm combines the core elements of the vfh algorithm and our previously developed algorithm I [1], and is positioned in this work as algorithm II. An evaluation of the average obstacle avoidance time for various types of obstacles has been conducted, including five cubic obstacles, a long wall obstacle, and a complex obstacle. During the computational experiment using the Gazebo 11 simulation environment, the time parameters for robot movements around various types of obstacles were calculated, including five cubic obstacles, a wall obstacle, and a complex obstacle. In the computational experiment, statistical processing of the obtained results was carried out. It was shown that using the proposed algorithm, the assessment of the average time for the robotic system to avoid obstacles is reduced in some cases by up to 7.2 times compared to the use of algorithm I. |
| format | Article |
| id | doaj-art-560b8fc48a5441d6b43ce26ceb4b9955 |
| institution | Kabale University |
| issn | 2309-4923 2414-0481 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | Belarusian National Technical University |
| record_format | Article |
| series | Системный анализ и прикладная информатика |
| spelling | doaj-art-560b8fc48a5441d6b43ce26ceb4b99552025-08-20T03:44:21ZengBelarusian National Technical UniversityСистемный анализ и прикладная информатика2309-49232414-04812024-12-0104293310.21122/2309-4923-2024-4-29-33508Obstacle avoidance algorithm in mobile robot motionA. V. Sidorenko0N. A. Saladukha1Belarusian State UniversityBelarusian State UniversityA method has been proposed, and a computer program has been developed for simulating obstacle avoidance by a robotic system. To expand the mobility capabilities of the robotic system, the algorithm combines the core elements of the vfh algorithm and our previously developed algorithm I [1], and is positioned in this work as algorithm II. An evaluation of the average obstacle avoidance time for various types of obstacles has been conducted, including five cubic obstacles, a long wall obstacle, and a complex obstacle. During the computational experiment using the Gazebo 11 simulation environment, the time parameters for robot movements around various types of obstacles were calculated, including five cubic obstacles, a wall obstacle, and a complex obstacle. In the computational experiment, statistical processing of the obtained results was carried out. It was shown that using the proposed algorithm, the assessment of the average time for the robotic system to avoid obstacles is reduced in some cases by up to 7.2 times compared to the use of algorithm I.https://sapi.bntu.by/jour/article/view/703robotmovementobstaclesros 2gazebo 11 |
| spellingShingle | A. V. Sidorenko N. A. Saladukha Obstacle avoidance algorithm in mobile robot motion Системный анализ и прикладная информатика robot movement obstacles ros 2 gazebo 11 |
| title | Obstacle avoidance algorithm in mobile robot motion |
| title_full | Obstacle avoidance algorithm in mobile robot motion |
| title_fullStr | Obstacle avoidance algorithm in mobile robot motion |
| title_full_unstemmed | Obstacle avoidance algorithm in mobile robot motion |
| title_short | Obstacle avoidance algorithm in mobile robot motion |
| title_sort | obstacle avoidance algorithm in mobile robot motion |
| topic | robot movement obstacles ros 2 gazebo 11 |
| url | https://sapi.bntu.by/jour/article/view/703 |
| work_keys_str_mv | AT avsidorenko obstacleavoidancealgorithminmobilerobotmotion AT nasaladukha obstacleavoidancealgorithminmobilerobotmotion |