Goal: Implementation of a proportional vector-based avoidance system for a differential drive robot to reach a goal coordinate while navigating through static obstacles.
- Goal Seeking: Uses Odometry data to calculate the heading toward a specific (x, y) coordinate.
- Intelligent Avoidance: Uses 5-sector LiDAR analysis to "slide" around obstacles instead of just stopping.
- Proportional Control: Linear and angular speeds are scaled based on the proximity to obstacles.
- Emergency Recovery: Automatic spin recovery if an obstacle is detected within the critical safety margin.
- OS: Ubuntu 24.04 (Noble Numbat) on WSL2
- Middleware: ROS 2 Jazzy Jalisco
- Simulator: Gazebo Harmonic (GZ Sim)
- GPU: NVIDIA RTX 2060 (Optimized for OGRE2 rendering)
- Build the Workspace:
cd ~/dynamic_robot_ws colcon build --symlink-install source install/setup.bash