Navigation, Path Planning & Control Using amcl Package

Navigation, Path Planning & Control Using amcl Package

In the previous lesson, we understood what localization, mapping, and SLAM mean in Robotics, we also launched the Turtlebot3 gmapping package in Gazebo, and drew a global map using the robot's LIDAR (localization + mapping). turtlebot3 gmapping package In this lesson in the series of lessons on ROS tutorials, we will first understand what navigation, path planning, and control mean in robotics. Then, we will launch the navigation package (amcl package) in Gazebo to localize a robot during motion. Afterward, we will set an autonomous motion for a robot starting from the initial pose to the target pose using RVIZ.…
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Fundamentals of Robotics: Introduction

Fundamentals of Robotics: Introduction

This is the first post of the series of Fundamentals of Robotics course that provides an introduction to the course and some introductory remarks on Robotics. The course will cover all the fundamentals of robotics, including kinematics, mechanics, planning, and control. This course is needed because, in most robotics classes, only part of the fundamentals are covered, and advanced topics such as planning and control are usually neglected. To learn robotics efficiently, all of these topics should be covered in tandem, and neglecting each part will hinder learning. We will use free robot simulators to implement most of the methods…
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Implementing Dynamics and Control of a Quadrotor in MATLAB

Implementing Dynamics and Control of a Quadrotor in MATLAB

In this post, we will implement the dynamics and control of a quadrotor in MATLAB and Simulink. Stabilizing and tracking controllers are simulated and implemented on Quadcopter. A square trajectory is specified for the tracking controller. The reference of the simulation equations is the paper "Modeling and control of quadcopter" by Teppo Luukkonen. You can download the paper HERE! It has a table of values that we will use for the simulation. Objective: Simulation of Dynamics and Control of a Quadrotor in MATLAB and Simulink The objective is to implement a simulation of the quadcopter dynamics by implementing the equations…
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