ECOSense

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explore Autonomous Navigation

Robust path planning and obstacle avoidance for safe operation in dynamic environments.

How it works

The navigation stack utilizes the ROS2 Navigation 2 (Nav2) framework. It builds real-time costmaps using LiDAR sensor data to identify traversable and non-traversable areas.

A planner (A*) computes optimal routes ensuring smooth and safe movement even in crowded spaces.

Technical Implementation

  • Software Stack: ROS2 Humble & Nav2
  • Sensors: 360° LiDAR, wheel odometry, Ultrasonic sensor
  • Mapping: SLAM Toolbox for generating occupancy grids
  • Planning: Smac Planner
  • Controller: MPPI Controller

Explore the Code

Review our navigation configuration logs, behavior trees, and launch files on GitHub.

View on GitHub open_in_new