Obstacle Avoidance with Thymio and ROS


We modeled a Thymio robot in URDF, implemented velocity control and obtacle avoidance in scope of ROS.

This is a small project done in scope of Robotics practicals course. It was the first time I used the ROS to control a robot in Gazebo simulation. The project included robot URDF modeling, PID regulation for velocity control and implementation of an arbitrary algorithm for obstacle avoidance.

Keywords: ROS, Robotics, Obstacle Avoidance, URDF, Control
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