liyifei1218 / turtlebot-motion-planning

turtlebot-motion-planning

ESE 497

Experimental validation of robot planning and control algorithms on ground robot platforms

The project will involve the following steps:

• 1) Assembling a ground robot platform;

  • Hardware assembley
  • Software environment setup

• 2) Implementing existing robot planning and control algorithms (e.g., Rapidly-exploring Random Tree (RRT));

  • Implemented RRT Star algorithm with captured map from SLAM

• 3) Mapping environments using existing algorithms (e.g., occupancy grid mapping)

  • Mapped simulation environment using built in SLAM

• 4) Testing the autonomy capabilities of the robot in navigation tasks.

  • Tested in simulation evvironment
  • Not yet tested in realworld environment