Research Article
Real-Time SLAM Mobile Robot and Navigation Based on Cloud-Based Implementation
Table 4
Tuning guide for navigation in Figure
14.
| Item | Value |
| obstacle_range | 3 | raytrace_range | 3.5 | max_vel_x | 0.22 | min_vel_x | - 0.22 | max_vel_trans | 0.22 | min_vel_trans | 0.11 | max_vel_theta | 2.75 | min_vel_theta | 1.37 | acc_lim_x | 2.5 | acc_lim_theta | 3.2 | xy_goal_tolerance | 0.05 | yaw_goal_tolerance | 0.17 | sim_time | 1.5 | vx_samples | 20 | vy_samples | 0 | vth_samples | 40 |
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