Uses ROS and multithreading to control a turtlebot. Program allows turtlebot
to traverse through an enclosed environment and dynamically change habits
depending on objects in the way. Path finding is 1ft cells in a matrix along
with the A* Path Finding Algorithm.
File | Language | Description |
---|---|---|
Dstar | C++ | Performs A* on Matrix |
Matrix | C++ | Matrix that outlines the room |
Node | C++ | Helper for A* finding neighbors |
scan_node | C++ | Driver Program that uses Pthreads |
Point | C++ | Allows for Robotic Location on Matrix |
grid | csv | CSV file with matrix. Easy Loading |