README

Simple Control Algorithms

This package contains ROS2 nodes for autonomous navigation using reactive algorithms and simple path following algorithms. It also contains components that can be imported as libraries.

Reactive Algorithms Nodes Overview

1. “Disparity Extender Node”

This node computes disparity regions from LiDAR data to identify optimal steering angles and adjusts speed accordingly. It is based on the “The “Disparity Extender” Algorithm, and F1/Tenth”

Key Features

  • Reactive disparity-based obstacle avoidance.

  • Dynamic parameter adjustment through ROS 2 services.

  • Visualization of processed data and chosen paths.

2. “Potential Field Node”

This node implements an obstacle avoidance strategy based on the Potential Field method, focusing on steering the vehicle towards the farthest visible point while avoiding obstacles. This node is based on the article: “A Real-Time Obstacle Avoidance Method for Autonomous Vehicles Using an Obstacle-Dependent Gaussian Potential Field”

Key Features

  • Calculates attractive and repulsive forces based on LiDAR data.

  • Speed adjustment based on steering angle and obstacle distances.

  • Dynamic configuration of hyperparameters.

Libraries

1. “Simple Speed”

This utility defines the logic for dynamic speed adjustments based on simple parameters, like steering angle and distances.

2. “Utils”

This utility defines different function often used in the defined nodes or other libraries of this package