MobileRobot-RVO-Obstacle-Avoidance

This repo relate to implementing c++/python code of new obstacle avoidance algorithm based on Reciprocal Velocity Obstacle on Gazebo simulator and ROS1. We used at least two turtlebot3 burger models in Gazebo simulator.

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You can see the video:      

This package checked on below systems :

• Ubuntu Focal
• ROS Noetic
• Gazebo11 & TurtleBot3

Runing process:

1- Frist step is designing Custome Close area in gazebo. This model is in "multi-agents/gazebomodels/CloseArea2" 2- We also run the amcl and move_base node file to recieve and guid the robot to goal point.