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MPGR

This repository gives an insight into the basics of Motion Planning using ROS. This project is performed using Sahayak.

Python Requirements

pip install -r requirement.txt

Required ROS Packages

xargs sudo apt install < ros_requirements.txt

Results

Sahayak Teleoperation

For teleoperation of Sahayak run the below command in terminal:

roslaunch sahayak_control teleop.launch

A* Search

A* search is run on a given map to find the shortest path. RDP algorithm is used to remove the redundant nodes in the generated path. Through these nodes a smooth B-spline curve is fitted.

Without RDP

With RDP and B-spline

Comparing Both Paths

Green : Without RDP
Blue : RDP with $\epsilon$=0.1
Red : RDP with $\epsilon$=0.3

To run A* search on a given map:

State Estimation using EKF

Sahayak Control

To move the bot on the path planned by global planner, run the following: