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Mastering ROS for Robotics Programming - Second Edition by Jonathan Cacace, Lentin Joseph

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Implementing an obstacle avoidance system for a Turtlebot robot

Until now, we have used MATLAB only to exchange data using ROS topics. In this section, we are going to demonstrate how easy it is to create a robotic application for a mobile robot using MATLAB and the Robotic System Toolbox. We will design an obstacle avoidance system for a differential mobile robot, that allows the Turtlebot robot to navigate a crowded environment without colliding with any obstacle. We will present a MATLAB script that will set the control velocities of the robot to generate a random movement. At the same time, the laser scanner data of the sensor of the robot will be used to avoid obstacles. To implement this behavior, we will rely on the Vector Field Histogram ...

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