A* algorithm for path finding

asked 2019-08-15 08:14:17 -0600

enthusiast.australia gravatar image

Hello everyone. I am using turtlebot3 without any sensor i-e lidar or something. I am using odometry for its navigation. I will provide a static map with static obstacles by an image file made in a photo editor. Map is of a rectangled shaped room with fixed dimensions. I am able to send robot to a goal position via Twist and Pose messages of Odometry. Now i want to use A* algorithm for it's obstacle avoidance. But currently i am unable to do so. Any help will be appreciated. I am using kinetic with Ubuntu 16.04 and python for ros programming.

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Now i want to use A* algorithm for it's obstacle avoidance. But currently i am unable to do so. Why is this so? Have you tried something already? The ROS navigation stack has an implementation of a A* planner for global path planning.

pavel92 gravatar imagepavel92 ( 2019-08-15 11:13:07 -0600 )edit

ROS Navigation Stack requires Laser or some other sensor, but I'm not using any sensor. Is it possible to use navigation stack without any sensor? Just with odometry, can i use this?

enthusiast.australia gravatar imageenthusiast.australia ( 2019-08-15 11:27:56 -0600 )edit

yes, the laserscan is used to update the costmap for obstacle detection and avoidance. You can run the navigation stack without live obstacle detection. In your case you have static obstacles which are loaded via the static map and you can still navigate around them using the navigation stack planners

pavel92 gravatar imagepavel92 ( 2019-08-15 11:36:28 -0600 )edit