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srnand / Mobile-Robots-Autonomous-Navigation

Implemented Dubin's Curves and Rapidly Exploring Random Trees and RRT Star with branches as Dubin's Curves for path planning in Python and also simulated in Gazebo using ROS.

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rrtrrt-starrrtstarrosdubin-curvesgazebo

Mobile Robots Autonomous Navigation

Implemented Dubins Curves and RRT(Rapidly Exploring Random Trees) along with the Optimal RRT version.

Simulated an environment with obstacles with a Pioneer P3DX robot in Gazebo using ROS and applied these path planning algorithms.

Refer the Project Report for more information.

Visuals

RRT Star + Dubins (Sub-Optimal) with minimized Euclidean distance between nodes,

RRT Star + Dubins with random samples,

RRT Star + Dubins (Optimal) with minimized Dubins Paths between nodes,

About

Implemented Dubin's Curves and Rapidly Exploring Random Trees and RRT Star with branches as Dubin's Curves for path planning in Python and also simulated in Gazebo using ROS.

rrtrrt-starrrtstarrosdubin-curvesgazebo

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Language:Python 100.0%