Comparação entre planejadores de caminhos globais de um robô móvel

Abstract

This study aims to compare shortest path search algorithms using a mobile robot that has a ROS system (Robot Operating System). Experiments were carried out in different environments, with the intention of analyzing the Dijkstra and A* algorithms in a broader way, both in simulation and in the real robot. The tests were made with the robot TurtleBot 3 Burger, which has low cost and open source software. To analyze the results, a robot position capture system was used, consisting of a camera positioned over the experiments and a code for recognizing and converting pixels to meters. Location and orientation data for the robot's own sensors were also stored. After analyzing the results, there was a slight superiority of the Dijkstra algorithm coming from the ROS libraries, in relation to the A* algorithm.