/Collision-Avoidance-of-custom-Gopher-Robot-in-Unity

Collision Avoidance of custom Gopher Robot in Unity with different Local Planners

Primary LanguageC++

Collision-Avoidance-of-custom-Gopher-Robot-in-Unity

Packages list: robot description package - "gopher_description" robot navigation package - "gopher_navigation" MPC local planner package - "mpc_local_planner"

Steps to run the project:

  1. Load Unity package Gopher-In-Unity-Simulation
  2. Setup Local planners by changing parameters in config folder of "gopher_navigation" package and make required changes in "gopher_presence_server.launch" of gopher_unity_endpoint package
  3. Launch "gopher_presence_server.launch" in "gopher_unity_endpoint" package

Gopher-In-Unity-Simulation and Gopher-ROS-Unity git repositories are taken as base and modified as per our project requirement

SLAM Gmapping

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RESULTS - TEB Planner

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RESULTS - DWA Planner

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RESULTS - MPC Planner

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