Implementation and Comparison of BUG Algorithms on ROS

This paper conducts a research study and a comparative evaluation of Bug Algorithms to assess their potential for robotic navigation using Robot Operating System (ROS). Because these methods require local knowledge, they demand less computational capacity and are simple to implement. Robots that use these algorithms are also more comfortable to build because they need few sensors. We compare several Bug Algorithms using a robot, simulated in a Gazebo environment where they are subjected to various failure cases founded on the environment. Based on the simulation results, we compare the performance of the Bug Algorithms and determine whether they are suitable for use in the real world. This paper discusses and compares Bug 0, Bug 1, Bug 2, Com1, Alg1, Alg2, DistBug, Rev1, and Rev2. Bug 0, Bug 1 and Bug 2 have been implemented using Robot Operating System (ROS) and compared the performances.