Teach and Repeat using Bézier Curves

This repository implements a teach-and-repeat navigation system for mobile robots, enabling them to follow previously taught paths autonomously.

Features

• Supports path teaching and repetition using odometry and IMU, or a combination of map, odometry, and IMU.
• Two path representations: dot-to-dot and Bézier curves.
• Available for differential and tricycle-type robots.
• The vehicle stops when an obstacle is detected below a defined threshold.

Dependencies

• ROS 2 Humble
• Ubuntu 22.04
• robot_localization (for Extended Kalman Filter)

Installation

1. Clone this repository:

git clone https://github.com/jardeldyonisio/teach_and_repeat.git

Usage

To teach a path, ensure you run a teleop node to control the robot along the desired path. To finalize the teaching process, press CTRL + C to stop recording the positions:

ros2 run teach_and_repeat teach_path_coords.py

To repeat a path using dot-to-dot method:

ros2 launch teach_and_repeat repeat_bezier_path.launch.py

To repeat a path using bezier curve method:

ros2 launch teach_and_repeat repeat_path_coords.launch.py

TODO

• Create a ".yaml" file to configure:
  • Define the robot model;
  • Define lookahead parameters.
• Use more than one Bézier curve to represent the path (B-splines).
• Create launch files to define paths.

Demo Videos

Check out the teach and repeat system in action:

• Teach and Repeat using Odometry and Map: Watch the demo on YouTube
• Obstacle Detection: Watch the obstacle detection demo on YouTube
• Teach and Repeat using Odometry Only: Watch the demo on YouTube

Contributing

Feel free to open issues or submit pull requests to improve this project.