Demo / Videos
Algorithm demonstrations on the TurtleBot4
Algorithm Demonstrations
Each video shows the algorithm navigating a maze environment on a physical TurtleBot4 with AMCL localization.
Global Planner
A* (A-Star)
A* global planner navigating the maze using pure pursuit waypoint following with AMCL localization.
Dynamic Replanner
D* Lite
D* Lite replanning in real time as new obstacles are detected via LiDAR during navigation.
Global Planner
Jump Point Search (JPS)
JPS global planner demonstrating faster node expansion compared to standard A* on open grid maps.
Reactive Controller
DWA (Dynamic Window Approach)
DWA reactive local controller navigating around dynamic obstacles using velocity space sampling.
Hybrid Stack
Hybrid A* + DWA
A* computes the global path while DWA executes it locally, combining optimal planning with reactive obstacle avoidance.