Robot Operating System Based Path Planning

  • Ashwin Vasudevan
  • Ajith Kumar
  • Nrithya TheetharapanEmail author
  • N. S. Bhuvaneswari
Conference paper
Part of the Lecture Notes on Data Engineering and Communications Technologies book series (LNDECT, volume 38)


As autonomous cars are catapulted into prominence, path planning has taken the center stage. In this study, We implement the Tangent-bug approach to path planning. We have discretised the Tangent-bug algorithm into a set of independent operations. Transition from one iteration to the next is governed by the value of the range sensor and the convergent criterion. The tangent detection and tangent selection algorithms are tested by implementing on a 2D differential drive robot in the player stage simulator. Contrary to existing solutions, this paper proposes implementation on standard robotics middle-ware ROS (Robot Operating System) allowing effortless deployment on various robotics platforms. Features developed in this module are decentralised, amenable to scaling across multiple robotics platforms with minimal configuration.


Tangent-bug Path planning Robot Operating System Obstacle detection Player stage simulator 


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Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  • Ashwin Vasudevan
    • 1
  • Ajith Kumar
    • 1
  • Nrithya Theetharapan
    • 1
    Email author
  • N. S. Bhuvaneswari
    • 2
  1. 1.Anna UniversityChennaiIndia
  2. 2.GKM College of Engineering and TechnologyChennaiIndia

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