RBE3002

This is a generated map from the real world demonstration of our ROS system running on a turtlebot. This map show the CSpace in light green and identified obstacles in dark green. Start and Stop locations are mark with blue tiles while red locations are robot identified navigation goals.

The optimized A* eliminated navigation goals that were in between two in line navigation goals. This prevented unnecessary starting and stopping of robot motion, decreasing potential for inaccurate odometry readings due to acceleration. This robot testing also occurred in simulation.

This image is from a ros simulation where we were testing the our 4x4 A* path planning algorithm. This implementation allowed our team to demonstrate our A* algorithm although it was currently inefficient for robot motion.