Comparative Benchmarking of SLAM, Global Path Planning and Local Planning Capabilities of ROS and ROS2 Navigation Frameworks
Surabhi Gupta, Siddhant Swan , Amit Barde, Sapna Wagaj
ROS, ROS2, navigation, SLAM, path planning
This research paper comprehensively benchmarks the SLAM, global path planning, and local planning capabilities of the ROS Navigation Stack and ROS2 Navigation2 (Nav2) for autonomous mobile robot navigation. As robots operate in increasingly complex environments, evaluating navigation frameworks is critical. The study highlights Nav2's strengths in global planning and competitive local planning performance, offering insights for optimizing navigation solutions across applications. The study reveals Nav2's superior global planning performance with the SMAC planner and generally competitive local planning capabilities compared to ROS's Navigation Stack, albeit with an isolated instance of collision observed with the DWB planner.
Article Details
Unique Paper ID: 164217

Publication Volume & Issue: Volume 10, Issue 12

Page(s): 578 - 588
Article Preview & Download

Share This Article

Join our RMS

Conference Alert

NCSEM 2024

National Conference on Sustainable Engineering and Management - 2024

Last Date: 15th March 2024

Call For Paper

Volume 11 Issue 1

Last Date for paper submitting for Latest Issue is 25 June 2024

About Us enables door in research by providing high quality research articles in open access market.

Send us any query related to your research on

Social Media

Google Verified Reviews