ROS2 Tutorials - Potential Field Method Autonomous Driving in ROS2 Jazzy, Gazebo, and Python (Link Given Below)

#lidar #ros2jazzy #robotics #mechatronics We created a Python, Gazebo, and ROS2 Jazzy Jalisco implementation and simulation of a potential field method for real-time automatic obstacle avoidance for mobile robots. We are using a lidar sensor to detect obstacles. The goal is to steer the robot from an initial position to a goal position completely autonomously. Using lidar real-time measurements, the potential field method assigns repulsive forces to obstacles. The strength of these forces depends on the distance to obstacles. On the other hand, an attractive distance dependent force is assigned to a goal position. The resultant of the repulsive and attractive forces determines the steer direction and intensity of velocity for a mobile robot. A link to the tutorial is given here: https://www.youtube.com/watch?v=NkhlJlSBKHU