ROS-GMapping-VFH-PathPlanning

ROS-GMapping-VFH-PathPlanning

This project is written using rospy and uses the turtlebot in gazebo. It has 3 parts:

1. Creating a map with Gmapping using lidar data:

• Moving the robot using teleop:
• Moving the robot based on a script for automatic enviroment discovery:

2. Heading towards an end point using VFH (Vector Field Histogram) for avoiding obstacles and finding the way:

3. Finding the shortest path from starting point to the goal by making a graph of the saved map of the first part and using Dijkstra's algorithm.

• Found nodes of the graph:

  

• The coordinates of the pixels of the map image corresponding to the found nodes: