Developing a Hybrid-system, ROS algorithm to manage a behavior-based Robot to navigate and avoid static and dynamic obstacles

One of the new exciting ways to control mobile robots in both indoor and outdoor environments which allow mobile robots to autonomously map their environment, and localize relative to it in real time, while at the same time avoid static and dynamic obstacles is by developing and implementing a hybrid-robotic system that allows a mobile robot to navigate in an unknown environment. Such a design was achieved by utilizing ROS’s Rao-Blackwellized Particle Filter (RBPF) algorithm. Other libraries from ROS, such as Gmapping and RVIZ, were also used for localization and visualization.