PERFORMANCE COMPARISON OF BUG ALGORITHMS FOR MOBILE ROBOTS

In this study, Bug1, Bug2, and DistBug motion planning algorithms for mobile robots are simulated and their performances are compared. These motion planning algorithms are applied on a Pioneer mobile robot on the simulation environment of MobileSim. Sonar range sensors are used as the sensing elements. This study shows that mobile robots build a new motion planning using the bug’s algorithms only if they meet an unknown obstacle during their motion to the goal. Each of the bug’s algorithms is tested separately for an identical configuration space. At the end of this study, the performance comparison of the bug’s algorithms is shown.

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