自律移動ロボットのROS2実装とROS1との性能比較

DOI 機関リポジトリ (HANDLE)

書誌事項

タイトル別名
  • ROS2 IMPLEMENTATION OF AN AUTONOMOUS MOBILE ROBOT AND PERFORMANCE COMPRISON WITH ROS1

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説明

The purpose of this paper is to investigate the implementation of the waypoint navigation task of an autonomous mobile robot under the ROS2 Humble environment. The performance between conventional ROS1 Noetic implementation and ROS2 Humble environment are compared. To compare the different ROS environments, we carried out existing reference waypoint navigation software for the ROS1 Noetic to migrate to the ROS2 Humble environment and compared both under the simulation and the real environment. As a result, both the simulation and real environments were successfully implemented in ROS2 Humble. After implementation, qualitative and quantitative performance comparisons were conducted. The qualitative performance comparison revealed that ROS2 Humble was more stable and robust in terms of environmental mapping and recovery behavior. The quantitative visual performance comparison revealed that ROS2 Humble was superior in terms of navigation accuracy and ROS1 Noetic in terms of without loss of the transmission message.

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詳細情報 詳細情報について

  • CRID
    1390863937794608000
  • DOI
    10.15002/00030773
  • HANDLE
    10114/00030773
  • ISSN
    24368083
  • 本文言語コード
    ja
  • 資料種別
    departmental bulletin paper
  • データソース種別
    • JaLC
    • IRDB
  • 抄録ライセンスフラグ
    使用可

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