A* (A Star) Search | TurtleBot3 Robot | Motion Planning for Robots

[@AllIsHere.o]

Bro you will have soon millions of subscribers because you have started on correct time.

[@RoboticswithSakshay]

Really hope so!😄

[@chiral4055]

Just started learning graph algorithms and found your upload with great explanation and demo.

[@pocopoco3468]

I'm trying to make a LFR(Line follower robot) till now I have made it to run on Balck and white line, all complex and simple turns, line discontinue etc. But I'm facing problem in loops, how to make a LFR to detect loop?

[@abrahamyalley9973]

how do i set the astar algorithm as my global path planning algorithm

[@MuhammadUsman-t4z]

Absolutely Amazing

[@tomWil245]

Excellent!!! Very clear. thanks!

[@chaosNinja790]

Thank you very much. You really helped me. Godsend

[@vikasp-j1x]

Brother can you suggest me any resources for doing the same , i wanna to implement my path planning in ros like you did , but i don't know how to start . I know the algorithm and implemented it in cpp without ros but i don't know to integrate like you did can you help me brother

[@vikasp-j1x]

i want some resources to refer

[@SamarAshrafii]

Which plugins we need to install in order to make it work? global path planner and what else? could you plz make this part clear as well?

[@farhanharoon6546]

Bro one question. I have already planned a path for my environment but I dont have any idea about how to make my turtlebot3 follow that path. Please help me bro.

[@ohgeezman]

how to change gazebo map ? thank you for the video anyway

[@itsme3391]

How can i adjust it to fit into epuck robot

[@SamarAshrafii]

thank you, This video is amazing, the only think I want to know that is it possible to change the map?

[@MrCode12]

Thank you very much.

[@RoboticswithSakshay]

Happy to know you found it useful

[@MrCode12]

How can apply obstacle avoidance in your project?

[@RoboticswithSakshay]

A* is a global path planning algorithm. You can use an additional local path planning algorithm to do real time obstacle avoidance. For that, one good algorithm is the DWA Planner. Link to video: kzbin.info/www/bejne/mYjCan6IgcSld5I

[@MrCode12]

​@@RoboticswithSakshay I saw your video but I can't join your astar planner with DWA planner. Can you tell me how do that's,please?

[@RoboticswithSakshay]

@@MrCode12 If you follow the instructions for running the AStar simulation, your work is done. This simulation already has AStar Planner as Global (as discussed in the video) and DWA as the Local. While running the AStar algorithm, when the robot moves after generating path. Notice a small curve in front of the Robot, that's the DWA Planner in action.

[@MrCode12]

@@RoboticswithSakshay I saw that's my friend, local planner is working thank you, but when make dynamic obstacles the robot not ovoid them and stop moving.

[@RoboticswithSakshay]

@@MrCode12 The behavior of the DWA algorithm is dependent on the parameters that we provide. The parameters that the code uses are present at this link: github.com/SakshayMahna/Robotics-Playground/blob/main/turtlebot3_ws/src/global_path_planning/param/turtlebot3_ros_world/dwa_local_planner_params_burger.yaml Did you try placing the obstacle at various distances. For the current settings, it may be possible that the algorithm can only avoid obstacles that are further away. To account for obstacles that are closer, the settings need to be changed. More details about the parameters can be found here: wiki.ros.org/dwa_local_planner You can even raise an Issue on the GitHub Repository, discussing more details about the problem.

[@anubhavdogra9822]

Perfect

[@chandrasekharjinendran6844]

Thanks a lot !!!

[@RoboticswithSakshay]

Glad you liked it!