Robotics: Autonomous Navigation & Mapping with TurtleBot3
Programmed a TurtleBot3 in ROS2 to autonomously map and navigate environments using SLAM, LiDAR, and real-time trajectory control.
I programmed a TurtleBot3 robot using ROS2 to autonomously navigate and map unknown environments within a simulated space. The project was divided into two core tasks:
🔹 Square Tracing Robot
Programmed the robot to follow a square path using position control, publishing velocity commands (/cmd_vel) and logging odometry data (/odom). Rviz was used to visualize and analyze the trajectory under different speed parameters, ensuring accurate path tracking.
🔹 Mapping & Autonomous Navigation
Implemented autonomous exploration using SLAM (Cartographer) with LiDAR sensor data for obstacle detection. The robot navigated using:
Waypoint-based movement
Random walk strategy
Wall-following behavior
Key Features:✅ Autonomous navigation using ROS2 and SLAM✅ Real-time obstacle avoidance with LiDAR✅ Odometry-based position tracking✅ Environment visualization with Rviz & Gazebo
This project highlighted my capabilities in robotics, sensor fusion, AI navigation strategies, and the practical deployment of autonomous systems in real-world-like environments.
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