scanning the area with rotating turtlebot 2





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I'm working on a project with ROS using gzebo simulator and turtlebot 2.
I'm trying to make my robot navigate himself into a clear path.
my robot moves only forward, and my idea was to rotate it 360 degrees and get readings from his laser scan, and then get back to the angle that had a reading
that represents a clear path.



I'm having trouble thinking about a right implementation though and would like to get some reviews about my idea and any suggestions that could help.



Thanks!










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    0















    I'm working on a project with ROS using gzebo simulator and turtlebot 2.
    I'm trying to make my robot navigate himself into a clear path.
    my robot moves only forward, and my idea was to rotate it 360 degrees and get readings from his laser scan, and then get back to the angle that had a reading
    that represents a clear path.



    I'm having trouble thinking about a right implementation though and would like to get some reviews about my idea and any suggestions that could help.



    Thanks!










    share|improve this question

























      0












      0








      0








      I'm working on a project with ROS using gzebo simulator and turtlebot 2.
      I'm trying to make my robot navigate himself into a clear path.
      my robot moves only forward, and my idea was to rotate it 360 degrees and get readings from his laser scan, and then get back to the angle that had a reading
      that represents a clear path.



      I'm having trouble thinking about a right implementation though and would like to get some reviews about my idea and any suggestions that could help.



      Thanks!










      share|improve this question














      I'm working on a project with ROS using gzebo simulator and turtlebot 2.
      I'm trying to make my robot navigate himself into a clear path.
      my robot moves only forward, and my idea was to rotate it 360 degrees and get readings from his laser scan, and then get back to the angle that had a reading
      that represents a clear path.



      I'm having trouble thinking about a right implementation though and would like to get some reviews about my idea and any suggestions that could help.



      Thanks!







      ros robotics






      share|improve this question













      share|improve this question











      share|improve this question




      share|improve this question










      asked Nov 21 '18 at 20:50









      eliharelihar

      449




      449
























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          What is the problem exactly?




          • detecting the clear path after the rotation?

          • Rotating to it and driving into it?

          • Something else?


          Is there a reason why you can not use the global & local planner of ROS and simple calculate a goal for them after the rotation?



          Or you mean your robot can only drive straight and rotate in place? No driving curves?



          Than take the global plan and check for each cell after the start, if it is reachable in a straight line without hitting an obstacle. If not, drive to the previous reachable cell rotate there and start anew.






          share|improve this answer
























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            1 Answer
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            active

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            1 Answer
            1






            active

            oldest

            votes









            active

            oldest

            votes






            active

            oldest

            votes









            0














            What is the problem exactly?




            • detecting the clear path after the rotation?

            • Rotating to it and driving into it?

            • Something else?


            Is there a reason why you can not use the global & local planner of ROS and simple calculate a goal for them after the rotation?



            Or you mean your robot can only drive straight and rotate in place? No driving curves?



            Than take the global plan and check for each cell after the start, if it is reachable in a straight line without hitting an obstacle. If not, drive to the previous reachable cell rotate there and start anew.






            share|improve this answer




























              0














              What is the problem exactly?




              • detecting the clear path after the rotation?

              • Rotating to it and driving into it?

              • Something else?


              Is there a reason why you can not use the global & local planner of ROS and simple calculate a goal for them after the rotation?



              Or you mean your robot can only drive straight and rotate in place? No driving curves?



              Than take the global plan and check for each cell after the start, if it is reachable in a straight line without hitting an obstacle. If not, drive to the previous reachable cell rotate there and start anew.






              share|improve this answer


























                0












                0








                0







                What is the problem exactly?




                • detecting the clear path after the rotation?

                • Rotating to it and driving into it?

                • Something else?


                Is there a reason why you can not use the global & local planner of ROS and simple calculate a goal for them after the rotation?



                Or you mean your robot can only drive straight and rotate in place? No driving curves?



                Than take the global plan and check for each cell after the start, if it is reachable in a straight line without hitting an obstacle. If not, drive to the previous reachable cell rotate there and start anew.






                share|improve this answer













                What is the problem exactly?




                • detecting the clear path after the rotation?

                • Rotating to it and driving into it?

                • Something else?


                Is there a reason why you can not use the global & local planner of ROS and simple calculate a goal for them after the rotation?



                Or you mean your robot can only drive straight and rotate in place? No driving curves?



                Than take the global plan and check for each cell after the start, if it is reachable in a straight line without hitting an obstacle. If not, drive to the previous reachable cell rotate there and start anew.







                share|improve this answer












                share|improve this answer



                share|improve this answer










                answered Dec 4 '18 at 18:44









                OrchaldirOrchaldir

                116




                116
































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