ROS-based Motion Planner for Gazebo-Simulated Rescue Robots in RoboCup

One of the key accepts of the fourth industrial revolution (called industry 4.0) is the proper usage of mobile robots, for which using an efficient motion planning algorithm is of importance. Every year, universities and educational institutes from around the world present their accomplishments in robotics within the RoboCup competitions. One of the main purposes of the rescue robots competitions is to increase the awareness of robots during their missions. This paper presents an open-source motion planning algorithm, simulated in the robot operating system (ROS) platform. The proposed planner develops a semiautonomous algorithm for the rescue robots utilized in the RoboCup competitions. The Gazebo-simulated results validate the efficient performance of the presented algorithms.