ros2生态系统中履带式移动机器人轨迹规划算法的实现

IF 1 4区工程技术 Q3 ENGINEERING, MULTIDISCIPLINARY

Tehnicki Vjesnik-Technical Gazette Pub Date : 2023-08-15 DOI:10.17559/tv-20220823131848

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

: In this paper, our goal is to present the autonomous cone placing robot developed at SzéchenyiIstván University (Gy ő r, 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.

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来源期刊

Tehnicki Vjesnik-Technical Gazette ENGINEERING, MULTIDISCIPLINARY-

CiteScore

1.90

自引率

11.10%

发文量

270

审稿时长

12.6 months

期刊介绍： The journal TEHNIČKI VJESNIK - TECHNICAL GAZETTE publishes scientific and professional papers in the area of technical sciences (mostly from mechanical, electrical and civil engineering, and also from their boundary areas). All articles have undergone peer review and upon acceptance are permanently free of all restrictions on access, for everyone to read and download. For all articles authors will be asked to pay a publication fee prior to the article appearing in the journal. However, this fee only to be paid after the article has been positively reviewed and accepted for publishing. All details can be seen at http://www.tehnicki-vjesnik.com/web/public/page First year of publication: 1994 Frequency (annually): 6