Robot Navigation

Implementation of classical navigation algorithms including Voronoi diagram, A*, Monte Carlo Localization, and potential fields.

Video

Overview

Implementation of a suite of robot navigation algorithms for autonomous mobile robot operation.

Methods

  • Path Planning: Voronoi diagram & A* algorithm
  • Motion Model: Odometry-based motion estimation
  • Obstacle Avoidance: Potential field method
  • Localization: Monte Carlo Localization (MCL / Particle Filter)