- This project implements RRT for a car like robot which is non-holonomic i.e., it has got 2 controls for 3 degree of freedom space
- this paper is closely followed for the implementation
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run this command to start the SLAM algorithm which is from the gmap package of ros-1 noetic
roslaunch custom_navigation gmapping_custom_param.launch -
the image below shows the map obtained by using the SLAM algorithm provided by the gmapping package ros
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path of the map obtained needs to be given in the
/custom_navigation/src/scripts/inflation_layer.py
this creates an inflated map a map where the collision of the mobile robot with the walls is taken into account by increasing the thickness of the walls with appropriate dimensions specific to the car model -
pass this map to the
rrt_final.py -
from RVIZ choose your intial and goal pose and the rrt_final.py displays the trajectory on the rviz. The trajectory is found such that the non holonomic constrained is taken into account.
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this is how the path looks like there are few changes which are yet to be made to avoid multiple loops as can be seen in the image below
