temperature_gradient_planner

This repository contains ros node that implements continiously updated artificial temperature gradient based motion planner.

Reference

Golan, Y., Edelman, S., Shapiro, A., & Rimon, E. (2017). Online Robot Navigation Using Continuously Updated Artificial Temperature Gradients. IEEE Robotics and Automation Letters, 2, 1280-1287.

For using planner with matlab

rosrun temperature_adient_navigation temperature_gradient_navigation_node _use_offline_map:=true

For using planner with gazebo, online

roslaunch temperature_gradient_navigation load_map.launch input_map:=opti_map

roslaunch temperature_gradient_navigation spawn_agent.launch

roslaunch temperature_gradient_navigation temperature_gradient_navigation_online.launch

For using planner with gazebo, offline

roslaunch temperature_gradient_navigation load_map.launch input_map:=opti_map

roslaunch temperature_gradient_navigation spawn_agent.launch

roslaunch temperature_gradient_navigation temperature_gradient_navigation_offline.launch input_map:=opti_map

Demos