An Obstacle Avoiding Robot is a type of autonomous mobile robot that avoids collision with unexpected obstacles. Here the whole project is built with the ROS framework where the final robot is tested on the Gazebo simulator.

To detect the obstacles in the simulator we will have different sensors on the Gazebo. But here, in the robotics field, laser distance sensors play an important role. So, we will use a Laser distance Sensor as a Gazebo Plugin for Obstacle detection on the simulator.

Develop a Robot application with an Obstacle avoidance algorithm based on Laser Distance Sensor values it continuously detects the distances to the obstacles within the sensor range so that it should simulate.

Develop a simulation application using URDF and Xacro modeling techniques, that modeled robot will load inside the Gazebo simulator empty world. The gazebo world will be created with SDF techniques in the ROS. With the help of Gazebo plugins, we will control the robot, and also we will get the Laser Distance Sensor data.

Test the robot algorithm with Robot application and simulation application in the Gazebo and Rviz. Load the created gazebo models inside the simulator and test the obstacle avoidance algorithm in the gazebo simulator.

Technical Architecture: