In the past decades, the service robot industry had risen rapidly. The office assistant robot is one type of service robot used to assist officers in an office environment. For the robot to navigate autonomously in the office, navigation algorithms and motion planners were implemented on these robots. Robot Operating System (ROS) is one of the common platforms to develop these robots. The parameters applied to the motion planners will affect the performance of the Robot. In this study, the global planners, A* and Dijkstra algorithm and local planners, Dynamic Window Approach (DWA) and Time Elastic Band (TEB) algorithms were implemented and tested on a robot in simulation and a real environment. Results from the experiments were used to evaluate and compare the performance of the robot with different planners and parameters. Based on the results obtained, the global planners, A* and Dijkstra algorithm both can achieve the required performance for this application whereas TEB outperforms DWA as the local planner due to its feasibility in avoiding dynamic obstacles in the experiments conducted.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.