Path Planning and Following

Path planning, and path following

Plan paths for robots in a given environment using mobileRobotPRM and tune a pure pursuit controllers to follow a set of waypoints using the controllerPurePursuit object and Pure Pursuit block in Simulink^®.

Functions

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Path Planning

`mobileRobotPRM`	Create probabilistic roadmap path planner
`findpath`	Find path between start and goal points on roadmap

Path Following

controllerPurePursuit Create controller to follow set of waypoints

Blocks

Pure Pursuit

Linear and angular velocity control commands

Topics

Path Planning

Probabilistic Roadmaps (PRM)
How the PRM algorithm works and specific tuning parameters.
Plan Path for a Differential Drive Robot in Simulink
Execute an obstacle-free path between two locations on a given map using probabilistic roadmap planning algorithm in Simulink.

Path Following and Control

Pure Pursuit Controller
Pure Pursuit Controller functionality and algorithm details.
Path Following for a Differential Drive Robot
Drive a simulated robot along a predetermined path using Pure Pursuit path following controller.
Control Differential Drive Robot in Gazebo with Simulink
Control the Pioneer differential drive robot in Gazebo co-simulation using Simulink.

Featured Examples

Path Planning in Environments of Different Complexity

Compute an obstacle-free path between two locations on a given map using the Probabilistic Roadmap path planner.

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