Mobile Robot System

This is an implementation of collision detection and obstacle avoidance system for a mobile robot inside few environments.

Here's a short video demonstration:

collision.mp4

Implementation

Create a ros workspace and clone this repository into it's source folder:

mkdir -p ros_ws/src
cd src

git clone https://github.com/Madhav2133/mobile_robot_system.git

Build and source the workspace:

cd ..
catkin_make && source ~/ros_ws/devel/setup.bash

Launch the robot into the gazebo simulation using the following command:

roslaunch mobile_robot_system display.launch

To observe the sensor output:

rosrun mobile_robot_system collision_system

References

• Documentation: https://drive.google.com/file/d/1x1dzof_WmjImD5x52IbujKgovvwIl1-h/view?usp=sharing
• TurtleBot3 - For environments
• Mobile Robot URDF - Google
• Gazebo Plugins - Hokuyo Sensor