Original scientific paper

https://doi.org/10.17559/TV-20220823131848

Implementation of Trajectory Planning Algorithms for Track Serving Mobile Robot in ROS 2 Ecosystem

Norbert Boros ; SzéchenyiIstván University, Győr, H-9026, Győr, Egyetemtér 1., Hungary
Gábor Kallós ; SzéchenyiIstván University, Győr, H-9026, Győr, Egyetemtér 1., Hungary
Áron Ballagi ; Robotics Laboratory, head of Department of Automation SzéchenyiIstván University, Győr H-9026, Győr, Egyetemtér 1., Hungary

Abstract

In this paper, our goal is to present the autonomous cone placing robot developed at SzéchenyiIstván University (Győr, Hungary) and the main steps and parts of its design and preparation. Within this, rather complex task-sequence, we discuss the logic of software operation (embedded in the ROS 2 ecosystem), the main issues of environmental representation and we focus especially on the trajectory planner part of the entire system. The implemented algorithms-including our own innovative ideas are Dijkstra, A*, Hybrid A*, DWA and Elastic band.

Keywords

Cone placing robot; digital twin; elastic band algorithm; hybrid A* algorithm; ROS 2 system; trajectory

Hrčak ID:

305445

URI

https://hrcak.srce.hr/305445

Publication date:

28.6.2023.

Visits: 1.430 *