In this project I had worked on obstacles avoidance robot which was a milestone project in Control of Mobile Robot course by Georgia Institute of Technology.

 

The goal of the robot is to avoid obstacles while going to a set goal. In this project I had used ROS , Rivz and Gazebo to build and simulate the robot. And had been provided the robot with LiDAR sensor to work as obstacle detector.

 

The used algorithm was a hybrid automata which is a state-machine algorithm to changes robot’s behavior based on pre-defined conditions.