Fine Obstacle Avoidance Using Laser Scan and Novel A* Algorithm
All robots and systems are subject to a variety of limitations. When in a restrictive environment, the robot will have to contend with the sensor readings being less reliable. As such, additional algorithms and methodologies have to be applied in order to handle the extreme edge cases that will appear due to accumulated error. This project seeks to address this topic by sending a two-wheel drive robot equipped with encoders, a gyro, and an Intel Realsense camera (shown in Figure 1 below) through a myriad of pathways consisting of unknown obstacles while avoiding collisions and ultimately arriving at a goal point in a map.
