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