Holonomic Maze-Solver Project

In this project, implemented PID-based controller for the ROSBot XL, a holonomic (omni-directional) mobile robot by Husarion, enabling navigation in both simulation and real-world maze environments. The system runs in Gazebo simulation as well as on the real robot within the Cyberworld Lab, a remote robotics testing environment provided by The Construct.

The robot navigates through mazes under defined constraints, combining waypoint-based path planning, holonomic motion control, and real-time sensor feedback from its LIDAR and onboard odometry. The approach uses C++ and ROS2 to continuously calculate control commands, ensuring accurate positioning, smooth trajectory tracking, and efficient movement through each waypoint toward the final goal.

Key Features

• Holonomic Motion Control: Uses PID controllers to achieve precise movement in all directions, leveraging the robot’s omni-directional wheels for agile maneuvers.

• C++ and ROS2 Integration: The control algorithm is implemented in C++ with ROS2 nodes, enabling modular, real-time operation.

• Waypoint-Based Navigation: Navigates through pre-defined waypoints in the maze both normal and reverse directions, doing simple motions in each step. The video demonstrates reversed version.

• Real-Time Sensor Feedback: Integrates LIDAR data to detect walls, maintain accurate positioning, and adjust control commands dynamically.

The project has several implementation steps:

• An empty world for testing basic functionality - robot makes a figure 8
• A similar Gazebo simulation environment for testing maze solving
• A real-world setup, ran remotely connected to the The Construct’s Cyberworld Lab