Path Planning and Mapping of an Autonomous Agricultural Robot Using Robot Operating System (ROS) and Gazebo

Abstract

Path planning and following rely deeply on mapping and object detection. In this paper, research into the application of these processes and the method to implement them are discussed and analyzed. Communication through robot operating system and MATLAB are utilized to visualize the data received and used for the programs that are run on robots. The Turtlebot serves as an educational tool with various sensors. A mapping and control method will be developed and examined to further the understanding of how each function of path planning and object detection runs and can be controlled.