Robot path pursuit using probabilistic roadmap

摘要

The paper presents the implementation of pure pursuit algorithm using probabilistic roadmaps (PRM) in robot navigation. The map of the robot's environment is generated as occupancy grid. In the occupancy grid map, the probabilistic roadmaps are obtained. A desired path from start to end location of the robot navigation is obtained from probabilistic roadmaps. Experimental work is carried out on simulated Turtlebot robot in Gazebo simulator. MATLAB is used as programming language. In addition, the `Robotic System Toolbox' of the MATLAB is used to program the robot navigation process. The results of map building, inflated map, PRM and path obtained are shown in figures.