A Novel GUI Design for Comparison of ROS-Based Mobile Robot Local Planners

Abstract

The studies such as navigating the AMR between stations, docking to the station, and assigning autonomous tasks to other stations are costly in terms of time and energy consumption. This situation creates the need for an interface where the entire work area can be observed and AMRs can be controlled from a single center in the installation of the system in the field. In this study, an interface that can be used in AMR control and monitoring was designed. With this interface; It is thought to prevent costly situations such as determining the stations, calculating the time spent in the transportation of products between stations, determining the movement route. The interface developed in this context was used in an application where ROS-based path planning algorithms were compared. A total of six different stations was identified. With three different local planners: DWA, TEB and Trajectory planner, AMR was given the task of acting autonomously to each station. Thanks to the developed interface, the distance and time required to reach each station were calculated by performing autonomous movement to the desired points. In this way, a comparison of ROS-based path planning algorithms was made. It was calculated that the DWA was 10.55% more successful than the TEB and 2.33% more successful than the Trajectory in terms of distance covered. Additionally, when examined in terms of arrival time, it was calculated that the DWA was 24.64% more successful than the TEB and 2.39% more successful than the Trajectory.