Robot Navigation

Project Structure

Pre-requirement

1. ROS2 Humble
2. Gazebo
3. Turtlebot

Usage

Terminal1 💻

ros2 launch turtlebot3_gazebo turtlebot3_dqn_stage4.launch.py 

Terminal2 💻

ros2 launch turtlebot3_cartographer cartographer.launch.py use_sim_time:=true

Terminal3 💻

Run the code!!(RRT,A*,Hybrid A*)

RRT vs. A* vs. Hybrid A*

RRT

https://youtu.be/Bxc5hF18Tw8

A* with PD controller

https://youtu.be/L-HktZQIf9k?si=_8rFrMYtMGyOo5ih

Hybrid A* with PD controller

https://youtu.be/L-HktZQIf9k?si=_8rFrMYtMGyOo5ih

Dynamic Path Planning

https://youtu.be/WlBBGpIwAvg?si=-KT9otUGZzrRxg3a

On going

1.Add local planner with costmap for dynamic replanning ability...

2.Path smoother