Path Planner for Mobile Robot

Whenever we think of robotics, we think of robots doing some cool stuff. Robots are actually programmed and built to help Humans to ease their work. Also with the advancements in robotics, new challenges programmers have to face each day to make robots more efficient. Path planning is a problem that a Roboter has to deal with when he is playing around with mobile robot. Also in Autonomous driving, planning of right path for vehicle is the essential requirement.

In this project, a robot path is planned using the information of robot's current position (localization) in map (mapping) with Probabilistic Road Map Planner Algorithm. In this algorithm, depending upon robot's current location and its desired goal position, a shortest path joining nearby look a head points is planned. Then Robot is controlled in such a way that robot follows the planned path in order to reach the goal location. Also in this project, I have integrated obstacle avoidance algorithm named as Vector Field Histogram, which can identify any dynamic obstacle that comes in the path of robot and changes its route accordingly. This algorithm takes laser readings as inputs and gives the commanding direction to the robot where it finds the clear path and closer to goal location.

In this video, a robot is called by my friend to go to him, the robot first planned its path and then following its path finally reach near my friend location.