/Path-Planning-for-a-Turtlebot-using-RRT-Astar-hybrid-Algorithm

ENPM661 Path Planning for Autonomous Robots Final Project

Primary LanguagePythonMIT LicenseMIT

Path-Planning-for-a-Turtlebot-using-RRT-Astar-hybrid-Algorithm

Introduction

The RRT path planning algorithm is quite popular for its speed and implementation. The only downside to RRT is the optimality in the planning process, as the nodes are selected at random, different planning costs are obtained due to the metric function. Therefore an improvised heuristic RRT-A* algorithm is proposed for a mobile robot motion planning with non-holonomic constraints. This algorithm makes the performance optimal by introducing the cost of the A Start algorithm into the RRT algorithm. A mobile robot such as a turtle bot with a non-holonomic constraints has been used to implement this algorithm where simulation results have shown that the Manhattan heuristic information function based RRT-A* planning algorithm is better than the other improved RRT algorithms in the optimization path and computational cost.

Contents

├───output
│   ├───output images
│   └───Turtlebot Simulation.mp4
├───project_5
├───661_project5_final_report.pdf
├───LICENSE
└───README.md

Pre Requisites

  • Ubuntu 18.04
  • ROS Melodic
  • Gazebo 9.1
  • Turtlebot3 Packages

Dependencies

  • numpy
  • matplotlib.patches
  • math
  • rospy
  • time
  • heapq
  • random
  • sys
  • pygame
  • Turtlebot3 Packages

Installing Turtlebot Package

Paste the following commands line by line

  • mkdir planning_ws/src
  • catkin_make
  • source devel/setup.bash
  • git clone https://github.com/ROBOTIS-GIT/turtlebot3.git
  • git clone https://github.com/ROBOTIS-GIT/- turtlebot3_msgs.git
  • git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
  • cd ../ && catkin_make
  • echo "source ~/planning_ws/devel/setup.bash" >> ~/.bashrc
  • source ~/.bashrc

Running the package

  • Clone this repository
  • git clone
  • unzip the cloned repository
  • paste the project_5 package in your catkin workspace.
  • build the package using catkin_make
  • source it source devel/setup.bash
  • Run export TURTLEBOT3_MODEL=burger in the Terminal
  • make the node executable, by navigating into the nodes folder and running the command
  • chmod +x task here task is the name of the executable.
  • launch the node and gazebo environment using
  • roslaunch project_5 proj.launch
  • give clearance by typing in a value of 0.12
  • The node will start running in a couple of seconds
  • After the path is visualized, close the window for the cmd_vel to be published.
  • The turtlebot will move to the goal in a minute.

Results

RRT-Euclidean RRT-Manhattan Hybrid-RRT-Euclidean Hybrid-RRT-Manhattan
Sparse Obstacles
Dense Obstacles

Turtlebot Simulation Video

License

This project is licensed under the MIT License - see the LICENSE file for details.

Contact

Bharadwaj Chukkala
UID: 118341705
Bharadwaj Chukkala is currently a Master's student in Robotics at the University of Maryland, College Park, MD (Batch of 2023). His interests include Machine Learning, Perception and Path Planning.
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