FSR-Navigation-planning-Car-like-Robot

This repository contains the final technical project of the Field and Service Robotics course held by Prof. Fabio Ruggiero at Federico II, Naples.

Usage

Running a simulation

For Navigation Planning Only (without Control)

1. Open MATLAB and navigate to the project directory
2. Choose a planning approach (RRT*, A*, Dijkstra)
3. run the main.m file

For Navigation Planning with IO feedback linearization controller

1. Open the Simulink model
2. In Simulink, go to:

• Model Properties > Callbacks > InitFcn
• Uncomment the lines related to the algorithm you want to use:

• For RRT*: Uncomment the RRT* section
• For Dijkstra: Uncomment the Dijkstra section
• For A*: Uncomment the A* section

3. Run the simulation

Comparisons between A* and Djikstra

1. In MATLAB, run the file "comparison_Astar_Djikstra.m" inside the folder "Comparisons"