/TurtleBot-Path-Tracking-using-PID-Controller

This Node created can be used for turtlebot control of single and mutli point navigation. For which further we can determine steering angle at each instant of time.

Primary LanguageCMake

TurtleBot-Path-Tracking-using-PID-Controller

Overview

The package is used for determining steering angle at each instant of time. Here the user flexibility for selecting single or multi-goal point control system. This package is tested both on simulation and hardware setup as shown below. The aim of this project is to develop a path tracking system for turtlebot.

Results:

Turtlebot PID controller results:

Results with multi-goal points

Lauching simulation

First create a catkin workspace and download the repo

 roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch

Once gazebo is launched, open another terminal, then

source ./devel/setup.bash

rosrun pid_controller pid_controller

References:

Create Catkin_ws and initialize it, Follow the http://wiki.ros.org/ROS/Tutorials link for more information.

Install tutlebot3 package, Follow the https://emanual.robotis.com/docs/en/platform/turtlebot3/simulation/ link for more information.