This repository implements different motion planning algorithms for non holonomic robots using ROS. All the algorithms are tested using turtlebot in Gazebo.

In the previous project, holonomic robot behaviour was implemented wherein the robot could move sideways. Vehicles (cars, mobile robots etc) are modelled as non-holonomic robots where a neighbour coordinate along a trajectory given the position and orientation is expressed as -

$$ \begin{align} \begin{split} x_{pos} &= x_{pos} + \frac{radius \ast (u_L + u_R) \ast cos(\theta) \ast dt}{2} \\ y_{pos} &= y_{pos} + \frac{radius \ast (u_L + u_R) \ast sin(\theta) \ast dt}{2} \\ \theta_{initial} &= \theta_{initial} + \frac{radius \ast (u_R-u_L) \ast dt}{L} \end{split} \end{align} $$

Where $u_L$ and $u_R$ are the velocity of left and right wheel, $radius$ is the radius of the wheel, $L$ is the distance between the centre of two wheels.

    .
    ├── Search Based            
    │   ├── A star       
    │   └── Dijkstra       
    |    
    ├── Curve Based            
    │   ├── Dubins Curve       
    │   └── Reed Shepp Curve       
    |
    └── Sampling Based
        ├── RRT       
        └── RRT*            

If you have any questions, please let me know:

• Shaswat Garg {sis_shaswat@outlook.com}