ROBOTPATHANDTRAJECTORY PLANNING

Abstract

With the emergence of a new era of automated world where automated agents are draw ing the attention of researchers, machine learning and artificial intelligence have grown so much in the area. Without machine learning, different operating systems to perform differ ent algorithms have also evolved to demonstrate the agent’s perspective. To perform any task, agents need to move from one location to another. This creates the need of path plan ning. Path planning with dynamic obstacles is very crucial to implement in an unknown environment for researchers. This leads to the trajectory planning. This work proposes a solution to this problem in an unknown environment. The obstacles and environment both are dynamic in trajectory planning. The proposed approach is based on the idea given by hybrid A* algorithm. Gazebo and RVIZ software simulation has been used to check the robustness of algorithm. The whole system has been implemented on the melodic distribu tion of ROS and Ubuntu 18.04.