PATH PLANNING WITH ROS2 ALGORITHMS FOR AUTONOMOUS NAVIGATION: Optimizing A* and RRT for Robot Motion in Gazebo Environments - Softcover

Myles, Isandro; Halesworth, Corwin

Softcover

ISBN 13: 9798294235185

Publisher: Independently published, 2025

Synopsis

🚗 Path Planning with ROS2 Algorithms for Autonomous Navigation

Optimizing A* and RRT for Robot Motion in Gazebo Environments

The heart of autonomous navigation is path planning—the ability for a robot to autonomously determine the best path to its destination while avoiding obstacles. Path Planning with ROS2 provides an in-depth guide to implementing and optimizing A* (A-star) and RRT (Rapidly-exploring Random Trees) algorithms for autonomous robots in dynamic environments using ROS2 and Gazebo.

This book equips you with the practical skills to build and optimize motion planning algorithms, navigate complex environments, and deploy real-world applications. With detailed examples and a focus on ROS2 integration, you’ll learn how to create smooth, efficient, and reliable paths for robots, from mobile platforms to manipulators.

Inside, you’ll master how to:

• Implement the A* algorithm for optimal pathfinding in static environments

• Use RRT for planning in high-dimensional spaces with complex obstacle configurations

• Integrate path planning with ROS2’s navigation stack for real-time execution

• Optimize path planning algorithms for efficiency and real-time performance

• Simulate and test path planning solutions in Gazebo, adjusting for real-world dynamics

• Combine global and local planning with obstacles, dynamic changes, and sensor feedback

• Customize planners for specific use cases: mobile robots, drones, and more

• Visualize planned paths and robot motion in RViz and Gazebo simulations

Whether you’re building autonomous cars, drones, or warehouse robots, this book will teach you to plan and execute autonomous motion that is both safe and efficient.

🧠 Ideal for robotics engineers, AI developers, and autonomous navigation specialists
📦 Includes code examples, optimization tips, and simulation setups in ROS2 and Gazebo
⚙️ Supports ROS2 distributions: Foxy, Humble, Iron + Gazebo, and RViz integration

Master path planning. Build smarter autonomous robots. Move with precision.

Edition details

• Publisher: Independently published
• Publication date: 2025
• Language: English
• ISBN 13: 9798294235185
• Binding: Paperback
• Number of pages: 176