[Exploring ROS using a 2 Wheeled Robot] #6: Motion Planning Algorithms скачать в хорошем качестве

[Exploring ROS using a 2 Wheeled Robot] #6: Motion Planning Algorithms

In the previous post, we created an obstacle avoidance algorithm. Today we’ll start working with motion planning! We’re going create an algorithm to go from a point to another using the odometry data to localize the robot. Full code & description of the video: http://www.theconstructsim.com/explor... References ROSDS: https://rds.theconstructsim.com/ Simulation: https://bitbucket.org/theconstructcor... Motion package: https://bitbucket.org/theconstructcor... [About the Project] This project is about using a Two-Wheeled Mobile Robot to explore features and tools provided by ROS (Robot Operating System). We start building the robot from scratch, using URDF (Unified Robot Description Format) and RViz to visualize it. Further, we describe the inertia and show how to simplify the URDF using XACROS. Later, motion planning algorithms, such as Obstacle Avoidance and Bugs 0, 1 and 2 are developed to be used in the built robot. Some ROS packages, like robot_localization, are used to build a map and localize on it. Part 1: Explore the basics of robot modeling using the URDF Part 2: Explore the macros for URDF files using XACRO files Part 3: Insert a laser scan sensor to the robot Part 4: Read the values of the laser scanner Part 5: An obstacle avoidance algorithm Part 6: Create an algorithm to go from a point to another Part 7: Work with wall following robot algorithm Part 8: Work with the Bug 0 algorithm Part 9: See the Bug 0 Foil Part 10: Perform the motion planning task Bug 1 Part 11: From ROS Indigo to Kinetic Part 12: Implement code for Bug 2 behavior Part 13: Use ROS GMapping in our 2 wheeled robot #ROS #Robot #MotionPlanning