Implementation of an A*-Algorithm for rough environments in ros considering different surface conditions
Budget: €250 – €750 EUR
Hello guys,
I’m trying to implement an A* algorithm for rough environments in ros considering different surface conditions ( friction, traction, … ). The environment was constructed by me in blender and integrated into gazebo (can therefore be assumed to be known)The main goal of my algorithm should be that the robot finds the best way to the goal depending on the soil conditions and does not start to slide, for example. I’m just getting started and have done my literature research and wanted to start implementation in the next week. If I understand the algorithm correctly, I have to rasterize the environment (divide it into cells) which can be parameterized (depending on height). Furthermore, the costs of my algorithm should then be different (depending on whether I drive up/down) depending on the steepness.
Thank you in advance
I’m trying to implement an A* algorithm for rough environments in ros considering different surface conditions ( friction, traction, … ). The environment was constructed by me in blender and integrated into gazebo (can therefore be assumed to be known)The main goal of my algorithm should be that the robot finds the best way to the goal depending on the soil conditions and does not start to slide, for example. I’m just getting started and have done my literature research and wanted to start implementation in the next week. If I understand the algorithm correctly, I have to rasterize the environment (divide it into cells) which can be parameterized (depending on height). Furthermore, the costs of my algorithm should then be different (depending on whether I drive up/down) depending on the steepness.
Thank you in advance