/Turtlebot3-Path-Planning

Turtlebot3 Path Planning and PID Control in ROS

Primary LanguageC++MIT LicenseMIT

Turtlebot3-Path-Planning

Using Robotics Operating System (ROS) Middleware, implemented Breath-First-Search (BFS) algorithm and PID Control in C++ to navigate a TurtleBot3 through a Maze in Gazebo.

Maze Objective (Goal highlighted in Green)

Alt text

Optimization of BFS

Visit Vertex Priority: North, West, South, East. Optimized Path planning algorithm by checking dead ends in adjacent north cells.

Alt text

Optimized BFS Shortest Path to Goal

Alt text

BFS in Action

Alt Text