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Implementation of A* on ROS Turtlebot

This repository contains code to find a path between the start node and the goal node for ROS Turtlebot using A* algorithm. The action-set is defined such that it satisfies the non-holonomic constraints of Turtlebot. The program takes left and right wheel velocities for Turtlebot as input. The action set is defined as below:

[0, RPM1] [RPM1, 0] [RPM1, RPM1] [0, RPM2] [RPM2, 0] [RPM2, RPM2] [RPM1, RPM2] [RPM2, RPM1]

Requirements:

  1. Python 3
  2. ROS 1

Required Libraries:

  1. pygame
  2. math
  3. heapq
  4. time
  5. functools

Instructions to run the code

For point robot with non-holonomic constraints:

python A-star_point_robot.py

Test case 1: start co-ordinates = (1, 1, 0), end co-ordinates = (5, 1)

Test case 2: start co-ordinates = (1, 1, 0), end co-ordinates = (9, 9)

Radius = 0.105, Clearance = 0.3

For ROS Turtlebot with holonomic constraints:

To spawn the robot in Gazebo:

roslaunch A-star_on_turtlebot turtlebot_map.launch x_pos:=-4 y_pos:=-4 z_pos:=-0

To run the publisher file

cd ~/A-star_on_turtlebot/src
python turtlebot.py

Test case 1: start co-ordinates = (1, 1, 0), end co-ordinate = (9, 9)
Radius = 0.105, Clearance = 0.3, RPM1 = 15, RPM1 = 10