Motion planning and Navigation of AGV/AMR：ROS planner plugin implementation of A*, JPS, D*, LPA*, D* Lite, Theta*, RRT, RRT*, RRT-Connect, Informed RRT*, ACO, PSO, Voronoi, PID, LQR, MPC, DWA, APF, Pure Pursuit etc.

This repository contains exercise files of the book "Mastering ROS for Robotics Programming"

[IROS 2024] MPPI (Model Predictive Path-Integral) Controller for a Swerve Drive Robot

A simple, easy-to-use, and effective path tracking planner.

ROS base local planner plugin which uses the tangent bug algorithm

A ROS based lawn mower capable to autonomous lawn mowing using waypoint navigation

Kaia.ai pet robots ROS2 simulations package

Model Predictive Control (MPC) based waypoint tracking controller (ROS navigation stack local planner plugin)

A Model Predictive Control based local_planner for ROS, wrapper around project-TARIV/mpc_lib to integrate it with the ROS NavStack.

Kitti is a differential drive robot, operating seamlessly on the ROS Noetic platform. Enhanced with the powerful capabilities of the ROS Navigation Stack, Kitti demonstrates its autonomous navigation proficiency. Throughout my time as a research associate at the Daffodil Robotics Lab, I played an active role in advancing this project