sania08 / turtlesim

Turtlesim Simulations

A]Reactive-Navigation

• In Reactive Navigation the navigation is executed purely based on the processing of the current/recent sensor data.

• Reactive Navigation does not include a map and hence the position of the robot with respect to a global frame of reference is not known.

• Using Reactive Navigation a robot can navigate in completely unknown environments containing unpredictable moving obstacles.

Implementations:

1. Follower application between two turtlesim robots:
   • One turtlesim robot is teleoperated and the other follows it.
   • One frame of reference is attached to each turtlesim robot and the relative transformation between these two frames is calculated.
   • Then, control commands are given such that it follows the teleoperated robot using feedback control.

B] Go to goal behaviour:

• The user enters the x coordinate and y coordinate of the desired goal position.
• Then, control commands are given such that the turtlesim robot reaches the goal position using feedback control.