Navigation and Control

Path Planning and Control for TurtleBot

A path planner for moving TurtleBot, a differential drive robot, around the room. The program is developed in Python and implemented using ROS.

Code on GitHub

Mapping the Room using Laser Scanner

An algorithm to map the area around Robot using laser scan data. A grid map is produced to indicate empty and occupied cells/ areas.



Robot Localization using Particle Filter

This algorithm is used to compute the robot’s current position with a given map using Particle filter approach.