Implementation of Bug1 and Bug2 Basic Path-Planning Algorithms for a TurtleBot 3 Robot in ROS Noetic

摘要

Mobile robots typically operate in a dynamically changing unknown environments.The Bug family algorithms were developed to address path planning challenges for ground vehicles within 2D configuration spaces of unknown environments.These algorithms utilize local sensory data about obstacles encountered during navigation.This paper introduces the implementation of Bug1 and Bug2 local path planning algorithms in ROS Noetic.Traditional 2D Bug algorithms are extended into 3D Gazebo simulation environment.Performance evaluation of Bug1 and Bug2 were conducted using the TurtleBot3 Burger model in both simple convex and maze environments.