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