Final Group Project For WPI Robotics class RBE 3002 - Navigation

Project involved: Implementation of A Star pathfinding algorithm based off sensor fusion and environment representation on

a TurtleBot running ROS/Ubuntu. Experience computing mobile robot kinematics and working in distributed ROS architecture.

The robot was capable autonomously creating a map of a room by sending navigation goals to the ROS navigation stack at the centroid of a frontier at the edge of the currently mapped space and the spinning to perform an area scan once it reached a frontier centroid.