This is the final project of robotics course - Spring 2022.

This project has two exciting scenarios.

In the first scenario, we have to generate a map of the world we are in, using a wall following algorithm to search the world and the gmapping package to generate such map.

The wall following algorithm is made of two parts. First, the robot tries to reach a wall and then, it follows the wall. We used a pid controller for this scenario. The algorithms mentioned above are implemented in follow_wall.py.

In the second scenario, we have to reach a given destination using VFH obstacle avoidance algorithm (Borenstein, J. and Koren, Y., 1991). First we tried to use a pid controller for this step but it did not work out very well and kept hitting walls and getting stuck. So, we used a simpler stop, rotate and go controller which worked out better. The controller and the obstacle avoidance algorithm are implemented in navigator.py.

You can find the project instructions in the project.pdf. You can also find the launch and world files used in this project in the maps folder and use them in your project if you want. In order to do that, you have to place the custom_world.launch file in $(find turtlebot3_gazebo)/launch/ path and the funky-maze.world file in $(find turtlebot3_gazebo)/worlds/ path.