Obstacle avoidance and path planning with TurtleBot3 using ROS

asked 2019-10-20 21:48:24 -0600

Hello! I'm working on a project where I have 4 TurtleBot3 robots in a predefined working area, the goal is for one of the TB3 robot (the leader) to reach the indicated position inside of the working area (the position is set using a graphical interface), then the remaining TB3 robots are meant to reunite with the leader, using alternative paths, the robots have to avoid collisions with small obstacles randomly set in the working area as well, as this occurs with the real robots, a virtual simulation of their movement is to be carried out too. Could someone give me advice as to where I could start? Some resources I could consult? So far I've been reviewing the basic tutorials of ROS and some packages like TF and URDF-related, but since I need to learn to use a wide variety of packages, I really don't know where to start. Thank you very much!

I'm using Kinetic Kame as my ROS version and Ubuntu 16.04 since it was the recommended configuration for using the TB3, I don't know if that is relevant, lol.

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