DWA Planner | Husky Robot | Motion Planning for Robots

День тому

DWA Planner is a popular local path planning algorithm. The algorithm is quite efficient and used as a default planner in the ROS Navigation Stack. The algorithm utilizes robot kinematics to generate various different candidate paths, and then uses an optimization function to find the best trajectory to follow. The algorithm is discussed on the video and has been demonstrated on the Husky UGV robot in ROS (Robot Operating System) based simulation.
Feel free to leave a comment or message me on Twitter/LinkedIn in case of any questions, doubts, suggestions or improvements.
Twitter: / mahnasakshay
LinkedIn: / sakshaymahna
Links
Simulation Code: github.com/SakshayMahna/Robot...
Algorithm Code: github.com/SakshayMahna/Robot...
DWA Planner Paper: www.ri.cmu.edu/pub_files/pub1...
DWA Planner ROS Package: wiki.ros.org/dwa_local_planner
ROS: www.ros.org/

КОМЕНТАРІ: 17

@animeshsinghal3405 Рік тому

Amazing video! Thanks for explaining it so well :)

@onyinyechichukwuma689 Рік тому

Best explanation I have seen! Thank you :)

@dibyasankhakundu9147 2 роки тому

Very well explained 👍👌. Keep sharing your knowledge

@RoboticswithSakshay 2 роки тому

Thank you☺

@shalinikumari1811 Місяць тому

thankyouu

@leonardhophni7145 Рік тому

Hello Sakshay, This is very well explained. So currently I'm working on a two wheeled robot that's supposed to identify a specific object using openCV and ML. The robot has to plan a path using RRT to this specific object and follow the path to get there. I would like to discuss with you on how I can achieve a real life implementation of this. If you have the time, kindly reach out to me.

@prandtlmayer 2 роки тому

Man, I love your T-shirt

@RoboticswithSakshay 2 роки тому

Thank You!😁

@ANDY-xs4ym 2 роки тому

Thank you very much for your explanation. You saved me a lot of time to understand the code. How long does it take to you to understand the algorithms implement in ROS about localization, mapping or navigation?

@RoboticswithSakshay 2 роки тому

Hello! It actually depends on the context. If we have to edit or make changes to the code base, then it would take quite some time to understand. Otherwise, just giving a read and understanding the code doesn't take very long.

@sumitthantharate7806 Рік тому

Bro can you make a video on DWB planner and how it is used as DWB plugin for path planning....

@PIYUSHTAILORstillalive 2 місяці тому

I was thinking to make robotics channel and then this guy with already 78 videos. Are you looking for collaboration?

@shruthidillikar Рік тому

Is code available for DWA ??

@ritikkothari2787 2 роки тому

Sakshay plz help me with some resources to learn ROS

@RoboticswithSakshay 2 роки тому

Hello Ritik! To learn ROS, I would recommend you check the channel TheConstruct. They have various playlists to get started with ROS. If you are willing to spend some money, you can checkout their paid courses as well. Along with that, you can refer to a book: Programming Robots with ROS by O'Reilly publications. All of these resources would help understand the basics of ROS. As you keep on doing more projects, you will keep improving your ROS skills as well. Also, I will be soon uploading some videos on How to use ROS. I'll let you know when that happens!

@RoboticswithSakshay 2 роки тому

Hello Ritik! I have added the first video on the ROS Learning Series. You can have a look: ukposts.info/have/v-deo/mX6AnYOwmKdpxYE.html