Laser-Based Perception and Navigation with Obstacle Avoidance

• Prajit Krisshna Kumar

• To be updated

• November, 2020

Performed perception using laser range finder and use the perceived information to avoid obstacles and navigate to the given destination. RANSAC algorithm determines the walls “visible” to the robot from the data obtained from the laser range finder. The detected walls will be published to rviz. Bug2 Algorithm with two states Goal seek and Wall follow for path planning.