Real-Time SLAM Mobile Robot and Navigation Based on Cloud-Based Implementation

Table 6

Tuning guide of Turtlebot3 Burger.

Items	Burger
inflation_radius	The obstacle’s inflation area is reduced by this parameter. The route would be designed so that it would not pass through this region. Setting this to a value greater than the robot’s radius is secure
cost_scaling_factor	The cost value is multiplied by this factor. Because of the reciprocal relationship, the cost decreases as this parameter is increased
max_vel_x	The maximum value of translational velocity is set for this factor
min_vel_x	The translational velocity’s minimum value is set for this factor. If this is set to zero, the robot can go backward
max_trans_vel	Maximum translational velocity value in reality; this is the fastest the robot is capable of going
min_trans_vel	The actual translational minimum velocity; this is the fastest the robot can go
max_rot_vel	Maximum rotational velocity value in reality; this is the fastest the robot is capable of going
min_rot_vel	The precise rotational velocity; this is the fastest the robot can go
acc_lim_x	The translational acceleration limit’s actual value
acc_lim_theta	The rotational acceleration limit’s actual value
xy_goal_tolerance	The permitted x, y distance when the robot is in its desired pose
yaw_goal_tolerance	The yaw angle is permitted once the robot has assumed its final position
sim_time	This factor is advanced in the simulation by a few seconds. Too high a value prevents quick rotation, whereas too low a value allows passage through a limited space. Differences in the length of the yellow line can be seen in the image below