Using Robotics Operating System (ROS) Middleware, implemented Breath-First-Search (BFS) algorithm and PID Control in C++ to navigate a TurtleBot3 through a Maze in Gazebo.
Maze Objective (Goal highlighted in Green)
Optimization of BFS
Visit Vertex Priority: North, West, South, East. Optimized Path planning algorithm by checking dead ends in adjacent north cells.
Optimized BFS Shortest Path to Goal
BFS in Action
