Navegación de robots móviles utilizando algoritmos Bugs extendidos

Abstract

The navigation algorithms allow the mobile robot to have a certain degree of autonomy in a task that requires a displacement to a specific point, i.e., point-topoint planning. In this work a comparative study of the Bug0, Bug1, Bug2, DistBug, Intelligent-Bug, Intensity-based Bug and Tangent Bug algorithms was carried out. The algorithms were implemented and tested in real and simulated environments in the Pioneer P3-DX robot with the tools provided by ROS. A comparative study of the performance of the algorithms is presented, taking as a reference the execution time and the total size of the trajectory.