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Implemented Dubin's Curves and Rapidly Exploring Random Trees and RRT Star with branches as Dubin's Curves for path planning in Python and also simulated in Gazebo using ROS.

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srnand/Mobile-Robots-Autonomous-Navigation

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Mobile Robots Autonomous Navigation

Implemented Dubins Curves and RRT(Rapidly Exploring Random Trees) along with the Optimal RRT version.

Simulated an environment with obstacles with a Pioneer P3DX robot in Gazebo using ROS and applied these path planning algorithms.

Refer the Project Report for more information.

Visuals

RRT Star + Dubins (Sub-Optimal) with minimized Euclidean distance between nodes,

RRT Star + Dubins with random samples,

RRT Star + Dubins (Optimal) with minimized Dubins Paths between nodes,

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Implemented Dubin's Curves and Rapidly Exploring Random Trees and RRT Star with branches as Dubin's Curves for path planning in Python and also simulated in Gazebo using ROS.

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