Objectives

• Autonomous Navigation using prior built map.

Path Planning

normal A*	A* with collision cost near obstacles

A* after processing with RDP Algorithm	Final Trajectory after B Spline approximation

A* planner integrated with RVIZ GUI

Trajectory Tracking using PX4 OFFBOARD Control

Lemniscate Trajectory

Circle Trajectory

Mapping

• Generated Map of cylpillars.world using gmapping package.
• I have used ground truth for odometry information.

Navigation

Autonomous Navigation to given desired goal

RVIZ

navrviz.mp4

Gazebo

ezgif.com-gif-maker.mp4

Future Work

• Implementing different planners
• VIO for Odometry Info

Acknowledgements

• I have used B Spline module.