Accuracy comparison of navigation local planners on ROS-based mobile robot

The aim of this work is to investigate and analyze the performance of ROS-based navigation local planners in a simulated environment and on a real research platform the TurtleBot 3 mobile robot. Three planners were subject to the study: DWA, EBand and TEB; the accuracy and repeatability were measured for position and orientation of the robot, as well as time of travel. Tests were based on continuous movements between three waypoints placed in a confined space, in both static and dynamic environments. The motion capture system based on AR tags was used in the real world. The obtained results do not indicate a specific comparison winner. All tested planners in most cases met their requirements.