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<!DOCTYPE html>
<html lang="en">
<head>
<meta charset="utf-8">
<title>ANIL HARISH - Rapidly Exploring Random Tree with Multimap Merge</title>
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<li><a href="project.html">Projects</a></li>
<li><a href="lib/docs/Anil_Harish.pdf">Resume</a></li>
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<div class="container pt">
<div class="row mt">
<div class="col-lg-8 col-lg-offset-2 centered">
<h2>Rapidly Exploring Random Tree with Multimap Merge</h2>
<hr>
<p>
<strong>Date:</strong> Fall 2018 |
<strong>Category:</strong> Personal Project |
<strong>Affiliation:</strong> <a href="https://www.colostate.edu/">Colorado State University</a>
</p>
<p>
Simulate Real time Rapidly Exploring Random Tree (RRT) using ROS and Gazebo Simulator for 3 or more robots.
</p>
</div>
<div class="col-lg-12 centered">
<h3>Dependencies:</h3>
<br>
</div>
<div class="row mt centered">
<div class="col-lg-2 col-lg-offset-2 centered">
<img class="img-responsive" width="100" height="100" src="img/dep/c++.png" alt="">
</div>
<div class="col-lg-2">
<img class="img-responsive" width="300" height="100" src="img/dep/ros.png" alt="">
</div>
<div class="col-lg-2">
<img class="img-responsive" width="100" height="100" src="img/dep/gazebo.png" alt="">
</div>
<div class="col-lg-2">
<img class="img-responsive" width="100" height="100" src="img/dep/opencv.png" alt="">
</div>
</div>
<div class="col-lg-12 centered">
<h3>Media</h3>
<hr>
<h4>Frontier Based RRT Exploration for Single Swarm Robot</h4>
</div>
<div class="row mt centered">
<div class="col-lg-8 col-lg-offset-2">
<p>
<div class="embed-responsive embed-responsive-16by9">
<iframe width="560" height="315" src="https://www.youtube.com/embed/BlCoKIeCirM" frameborder="0" allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
</div>
</p>
</div>
</div>
<div class="col-lg-12 centered">
<h4>Frontier Based RRT Exploration for Multiple Swarm Robots</h4>
</div>
<div class="row mt centered">
<div class="col-lg-8 col-lg-offset-2">
<p>
<div class="embed-responsive embed-responsive-16by9">
<iframe width="560" height="315" src="https://www.youtube.com/embed/Tmjtc5ltsSw" frameborder="0" allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
</div>
</p>
</div>
</div>
<div class="col-lg-12 centered">
<h3>Overview</h3>
<hr>
<p>
A multi-robot map exploration algorithm for mobile robots based on the Rapidly-Exploring Random Tree (RRT) algorithm. It uses occupancy grids as a map representation. It uses the following ROS Packages for simulation and implementation:
<ul class="centered">
<li><a href="http://wiki.ros.org/rrt_exploration">rrt_exploration</a></li>
<li><a href="http://wiki.ros.org/multirobot_map_merge">multoboti_map_merge</a></li>
<li><a href="http://wiki.ros.org/gmapping">gmapping</a></li>
<li><a href="http://wiki.ros.org/navigation">navigation</a></li>
</ul>
</p>
</div>
<div class="row mt centered">
<div class="col-lg-8 col-lg-offset-2">
<p><img class="img-responsive" src="img/portfolio/project03/proj3_fig1.jpg" alt=""></p>
<p>Figure 1. RRT as seen in Rviz and Simulation in Gazebo</p>
</div>
</div>
<div class="col-lg-12 centered">
<h3>MORE DETAILS ON THE PROJECT COMING SOON...</h3>
</div>
</div>
</div>
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<h4>EXPLORE OTHER PROJECTS</h4>
<hr>
</div>
</div>
<div class="row mt centered">
<div class="col-lg-4">
<a href="project04.html"><img class="img-responsive" src="img/portfolio/port04.gif" alt="" /></a>
<p>Revolutionizing Farming Using Swarm Robots</p>
</div>
<div class="col-lg-4">
<a href="project05.html"><img class="img-responsive" src="img/portfolio/port05.gif" alt="" /></a>
<p>Autonomous Swarm Robots for Delivery System</p>
</div>
<div class="col-lg-4">
<a href="project06.html"><img class="img-responsive" src="img/portfolio/port06.gif" alt="" /></a>
<p>Kinematics - Paint Car Door</p>
</div>
</div>
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<h4>My Recharging Station</h4>
<p>
1400 W Elizabeth St, Apt 208,<br />Fort Collins, CO - 80521<br /> United States of America.
</p>
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<h4>My Online Presence</h4>
<p>
<a href="https://linkedin.com/in/anilharish/">LinkedIn</a><br />
<a href="https://github.com/anilharish">GitHub</a><br />
<a href="https://twitter.com/anilh92">Twitter</a><br />
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</p>
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<h4>More About Me</h4>
<p>
<a>Mobile: +1 (970) 825-2230</a><br />
<a>Email: [email protected]</a>
</p>
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© Copyrights <strong>Anil Harish</strong>. All Rights Reserved
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