Implementation of VisBug-21 and VisBug-22 Path Planning Algorithms Using ROS Noetic

Local navigation algorithms are crucial for autonomous robots operating in unknown environments where a presence of obstacles and dynamic changes pose significant challenges.A focus of these algorithms is to enable a real-time path calculation, allowing a robot to adapt its states dynamically based on corresponding environmental conditions, despite an absence of prior knowledge about surroundings.This paper presents an implementation of the VisBug-21 and VisBug-22 algorithms, designed to address challenges of a local navigation.The algorithms were implemented for a differential drive robot Turtlebot3 Burger using Robot Operation System (ROS).Virtual experiments were performed in the Gazebo simulator employing a simple 3D environment that contained only convex obstacles and a small 3D maze.