Comparison of ROS Local Planners with Differential Drive Heavy Robotic System

摘要

This work aims to analyze the performance of ROS local planners with a differential drive heavy robotic system. Intel Realsense D435i depth camera and T265 tracking camera are used as the primary sensor source for navigation with real-time appearance-based mapping and localization technique. This work has studied the performance of DWA, TEB, and EBand local planners under two experiments. Obtained results are used to analyze the local planners based on how well it follows the global planners, their obstacle avoidance capability, time consumption, goal-reaching accuracy, and the quality of motion generation. Obtained results indicate that DWA and TEB local planners are more suitable for the large differential drive robot setup.