Turtlebot3 Navigation
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This is a course project for Autonomous Robot Systems at NUS. We used
- A* to find path to goals in the maze;
- Dijkstra to locate the closest free cell to the goal at the correct side of the wall;
- Cubic interpolation to smooth the trajectory;
- Weighted average of odometry and IMU to fuse the position data;
- Bidirection PID to control the turtlebot.