Two standard approaches for a robot path planning include a global and a local navigation.The later does not require to store an environment model in a robot memory.This paper presents implementations of two local navigation algorithms, Alg1 and Alg2, with a robot having no prior information about an environment and obstacles.It calculates a path in a real time, continuously changing its states depending on correspondent conditions.The algorithms were implemented for an existing differential drive robot Turtlebot3 Burger using Robot Operation System (ROS).Virtual experiments were performed in the Gazebo simulator employing a simple 3D environment with only convex obstacles and a small 3D maze.
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Yankova et al. (2024) studied this question.
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