This project simulates an environment for a Robot, using Localization, Path Planning, and Controller. The following topics were based on the free course of Udacity Artificial Intelligence for Robotics
- Particle filter
- A*
- Smooth path
- PID controller
In order to simulate the sensors I used Raycasting, based in the Daniel Shiffman Youtube Video
https://matheuslrsouza.github.io/particle-filter-js/
- Green cells are the walls in the grid
- Blue are the expanded cells in A* algorithm in order to search the optimal path
- Magenta is the path finded in the A*
- White dots are the Smoothed Path
The green circle is the belief of where the robot is, the motion is done based in that belief