Volume XLII-4/W18
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLII-4/W18, 191–195, 2019
https://doi.org/10.5194/isprs-archives-XLII-4-W18-191-2019
© Author(s) 2019. This work is distributed under
the Creative Commons Attribution 4.0 License.
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLII-4/W18, 191–195, 2019
https://doi.org/10.5194/isprs-archives-XLII-4-W18-191-2019
© Author(s) 2019. This work is distributed under
the Creative Commons Attribution 4.0 License.

  18 Oct 2019

18 Oct 2019

A MOVING OBSTACLES PLANNER ALGORITHM FOR A SIX-WHEELED SURVEYING ROBOT

S. Bazhan and A. Hosseininaveh S. Bazhan and A. Hosseininaveh
  • Dept. of Photogrammetry and Remote Sensing, Geodesy and Geomatics Engineering Faculty, K. N. Toosi University of Technology, Tehran, Iran

Keywords: Path Planning, MOOR, ROS, MOP, RRT, Dijkstra, A*, DWA

Abstract. Nowadays, robotic systems such as ground vehicle robots are mostly used in many industrial and military applications. Therefore, the path planning problem in the robotics domain is very important. Moving Obstacles Planner (MOP) algorithms have got the researchers interests in recent years and some of the most recent ones have been implemented in Robot Operating System (ROS) which is an open source middle wear to work with robots. This paper aims to compare the state-of-the-art MOP algorithms including Rapidly exploring Random Tree (RRT) and those implemented in the ROS navigation stack such as Dynamic Window Approach (DWA) local planner coupled with Dijkstra and A* as global planners on a six-wheeled robot known as MOOR in simulation environment. The results reveal that all of these algorithms have been designed for a square shape footprint robot and thus have limitations for MOOR with a rectangular footprint shape.