Autonomous Navigation for Mobile Robots and UGV

Examples for creating autonomous navigation software stacks for mobile robots and UGV using MATLAB and Simulink

Autonomous Navigation for Mobile Robots and UGV

This GitHub® repository contains MATLAB® and Simulink® examples for developing autonomous navigation software stacks for mobile robots and unmanned ground vehicles (UGV). The examples contained in this submission demonstrate how to interact with ROS-enabled robots and equivalent simulations to design and test a software stack for autonomous navigation of a Turtlebot3.

Topics covered in this collection of scripts and models include:

Creating Maps for Autonomous Navigation

• Create Maps from Numerical Arrays
• Create Maps from Images
• Control ROS-Based Robots to Acquire Lidar Scans
• Import and Plot ROS Data from a rosbag
• Integrate rosbag Recordings Into Simulations
• Create Maps From Lidar Scans using SLAM

Motion Planning and Path Following

• Simulate Waypoint Following Controller Using Pure Pursuit
• Command ROS Robot to Follow Waypoints Using Pure Pursuit
• Generate Path Between Two Locations Using a PRM Planner
• Simulate Path Planning and Following
• Test Path Planner + Follower in ROS Robot
• Simulate Obstacle Avoidance Using VFH Controller
• Test Obstacle Avoidance on ROS Robot
• Simulate Complete Path Navigation Stack
• Test Complete Path Navigation Stack in ROS Robot
• Simulate Path Re-Planning Scheduler Using Stateflow®
• Test Re-Planning Scheduler in ROS Robot

Trajectory Generation

• Interpolate Smooth Paths from Critical Navigation Waypoints
• Simulate Smooth Path Navigation
• Navigate Environment Using a Polynomial Trajectory
• Navigate Environment Using a Trapezoidal Velocity Trajectory

Localization and SLAM

• Design and test SLAM in Robots powered by ROS
• Generate Custom SLAM ROS Nodes

To learn more about the MATLAB/Simulink toolboxes used in this submission, visit the following documentation pages:

• Robotics System Toolbox™
• Navigation Toolbox™
• ROS Toolbox