Analysis of Tiago Robot for Autonomous Navigation Applications

Abstract

Autonomously Navigating robots are rapidly evolving, finding their space in a variety of different fields. There are also many controllers proposed to control the speed and braking of these vehicles in autonomous mode. Time taken in completing the task by these autonomous robots is of a major concern. Alongside path optimization techniques, efforts are made to implement velocity profiles in these controllers. Going this way increases the complexity of these controllers and requires a lot of computation which can cause time delay in the system. In this paper robot's behavior to several velocity profiles are studied and evaluated using Gazebo simulation. A comparative study between the velocity profiles are also made by comparing the velocity-time graph obtained from the simulations.