Published July 24, 2025 | Version 1
Journal article Open

DYNAMIC PATH PLANNING AND MAPPING USING SENSOR FUSION WITH ROS2

Authors/Creators

  • 1. ROR icon Selçuk University
  • 2. ROR icon Yıldız Technical University

Description

In this study, the dynamic path planning capabilities of mobile robots in indoor environments were investigated. The focus was on examining how newly added obstacles to an initially static map affect the robot's navigation behavior. To achieve this, the ROS2 Nav2 package along with the DWB Planner module was utilized. The Gazebo simulation environment served as the testing ground, allowing the robot to use LIDAR data to detect obstacles in real-time and navigate safely to the target without collisions. Throughout the study, three primary scenarios were established: the first involved navigating to the target on an obstacle-free map as a reference; the second examined the impact of manually added static obstacles on the robot's path planning; and the third tested how adjusting costmap parameters enabled the robot to pass closer to obstacles. Experimental results revealed that the ROS2 Nav2 framework could dynamically adapt to environmental changes, allowing the robot to re-plan its path as needed. Moreover, when the costmap parameters were reduced, the robot managed to pass closer to obstacles in a safe and controlled manner, which contributed to a decrease in both the total path length and the target arrival time. These findings highlight the direct impact of dynamic obstacles and costmap configurations on the robot's path planning performance. Overall, the ROS2 Nav2 framework has proven to be a robust and flexible solution for safe and efficient navigation in indoor environments.

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3. DYNAMIC PATH PLANNING AND MAPPING USING SENSOR FUSION WITH ROS2.pdf

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Additional details

Dates

Available
2025-07-24

Software

Repository URL
https://journalofnastech.com/index.php/pub/index

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