Path Planning

Category : Engineering / Autonomy
Completion : November 2017
Role : Co - Developer
Tools : TurtleBot | ROS

This lab is the implementation, simulation and experimental results of a ROS package which performs path planning and traversal with a TurtleBot robot. The algorithm essentially takes a map and probabilistically samples locations and builds a graph that can be traversed through using A* path search.

The video shows the robot moving through the probabilistic road map of 4 key locations (generated with unifrom random sampling and built up with A* path search); controlled by a simple P controller for heading and forward velocity of the Turtle Bot.

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pshering@edu.uwaterloo.ca