Comparative Performance Analysis of ROS 2 Local Controllers on an Autonomous Mobile Robot

In this study, the navigation performance of three ROS 2 navigation controllers-Vector Pursuit, Regulated Pure Pursuit (RPP), and Dynamic Window Approach (DWB)-is comparatively evaluated on an Autonomous Mobile Robot (AMR) in a simulated environment using Gazebo and ROS 2 Humble, and the results are presented. Each controller is given the task of following the same route. During the task, system resource usage such as CPU load, RAM consumption, and computational stability are recorded in real time. The collected data is analyzed and visualized. The results show that Regulated Pure Pursuit provides the most stable performance with low computational load, while DWB exhibits aggressive behavior with higher resource values. These results show the importance of choosing a suitable controller according to the constraints and requirements of the robotic platform.