Objectives

• To implement autonomous navigation in a known environment, given the desired goal.

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.
• Used ground truth for odometry information.

Navigation

Autonomous Navigation to given desired goal

RVIZ

Gazebo

On-going Work

• Code Cleaning/Optimizing
• Navigation without prior built map

Future Work

• Implementing different planners
• VIO for Odometry Info

Acknowledgements

• I have used B Spline module.