Using Robotics Operating System (ROS) Middleware, implemented Breath-First-Search (BFS) algorithm and PID Control in C++ to navigate a TurtleBot3 through a Maze in Gazebo.

Maze Objective (Goal highlighted in Green)

Optimization of BFS

Visit Vertex Priority: North, West, South, East. Optimized Path planning algorithm by checking dead ends in adjacent north cells.

Optimized BFS Shortest Path to Goal

BFS in Action