Augmenting Robotic Navigation: An Analytical Examination of X-Y with Yaw Tolerance Modulations within ROS2 and the Dynamic Window Paradigm using fusion of Nav2 Stack with DWA Algorithm

Abstract

In the burgeoning domain of robotics, the escalating demand for efficient and precise navigation systems is paramount for the seamless integration of robotic entities into diverse operational environments. This study investigates the enhancement of navigational capabilities utilizing the Robot Operating System 2 (ROS2), complemented by the Navigation2 (Nav2) stack and the Dynamic Window Approach (DWA) algorithm. The focal point of this research is the meticulous fine-tuning of x-y and yaw tolerances, which are critical parameters affecting trajectory planning and execution within the ROS2 navigation framework. The investigation commences with a comprehensive review of prevailing navigation algorithms, thereby establishing the contextual significance of ROS2, the Nav2 stack, and the DWA algorithm. Methodologically, the experimental setup and parameter configurations within the Nav2 stack are delineated, providing a robust foundation for subsequent analyses. A pivotal aspect of the study is the thorough exploration of the Dynamic Window Approach, elucidating its foundational principles while emphasizing the intricate interplay of parameters that dictate its operational efficacy. The integration of the DWA algorithm within the broader framework of the ROS2 Nav2 stack is meticulously articulated, showcasing the seamless communication among components such as global planners, local planners, and costmaps. Moreover, the research critically examines the implications of tuning x-y and yaw tolerances on the ROS2 navigation system. Through systematic experimentation and subsequent analysis of results, the study reveals the nuanced adjustments necessary for optimal trajectory planning, thereby illuminating the delicate balance between precision and adaptability. The findings of this research yield valuable insights into the intricacies of robotic navigation within the ROS2 ecosystem, enhancing our understanding of parameter tuning within the Nav2 stack and DWA algorithm. The demonstrated advancements in trajectory planning underscore the practical ramifications of precisely calibrating x-y and yaw tolerances, ultimately facilitating improved robotic navigation in real-world applications