DWA Planner | Husky Robot | Motion Planning for Robots

DWA Planner is a popular local path planning algorithm. The algorithm is quite efficient and used as a default planner in the ROS Navigation Stack. The algorithm utilizes robot kinematics to generate various different candidate paths, and then uses an optimization function to find the best trajectory to follow. The algorithm is discussed on the video and has been demonstrated on the Husky UGV robot in ROS (Robot Operating System) based simulation.

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Links
Simulation Code: https://github.com/SakshayMahna/Robot...
Algorithm Code: https://github.com/SakshayMahna/Robot...
DWA Planner Paper: https://www.ri.cmu.edu/pub_files/pub1...
DWA Planner ROS Package: http://wiki.ros.org/dwa_local_planner
ROS: https://www.ros.org/