Optimal Path Planning in a Dynamic Environment

Advisor: Prof. Gaurav Pandey, Dept. of Electrical Engineering, IIT Kanpur

• Built a simulation model of a wheeled robot and a small warehouse environment using ROS and Gazebo simulator.
• Used RViz for the simulation of robot’s motion from its start location to a user-defined goal location in the environment while locally modifying path in the presence of any unseen obstacles.

The project report can be found here.