Testing Autonomous Path Planning Algorithms and Setup for Robotic Vehicle Navigation

摘要

This paper covers the process that the project took to set up an autonomous system using ROS and a TurtleBot 3. The current project is a work in progress, the main goal is to test different path planning algorithms and sensor reading. The robot is to act as an academic platform that can be built upon and flexible enough to accept any testing requirement. Within the paper, the covered topics are, the working environment, planned algorithms, sensors used, advantages and disadvantages, and robot specification. Additionally, the direction, status, and future of the project. The project is still open ended, allowing for adoption from different parties to take the base and expand for their own needs.