fuadnuri/Travelling-Ethiopia

Solution for travelling ethiopia problem # 🇪🇹 Travelling Ethiopia — AI Search Algorithms & Robot Simulation This project implements various AI search algorithms for pathfinding across Ethiopia's city network and simulates robot navigation using **Gazebo** with ROS 2. --- ## Features ### Search Algorithms - **BFS / DFS** — Uninformed search for finding paths - **UCS** — Uniform Cost Search for optimal paths - **A\*** — Heuristic search for faster pathfinding - **MiniMax** — Adversarial search for coffee quality optimization ### Robot Simulation - **Gazebo Physics Engine** — Full 3D simulation environment with ROS 2 (Jazzy) - **Three-Wheel Differential Drive** — Custom URDF robot model - **Sensor Suite** — Proximity sensor, gyroscope (IMU), and RGB camera - **City World** — Ethiopia state-space map as a `.world` file with Cartesian coordinates - **ROS 2 Navigation** — Path planning and execution via ROS 2 topics --- ## Project Structure ``` Travelling-Ethiopia/ ├── data/ # Graph data and city coordinates │ ├── graph1.py # BFS/DFS graph │ ├── graph2.py # UCS/A* weighted graph │ ├── graph3.py # Heuristics │ ├── graph4.py # Coffee tree (MiniMax) │ └── graph5.py # Robot navigation graph ├── search/ # Search algorithm implementations │ ├── bfs_dfs.py # BFS and DFS │ ├── ucs.py # Uniform Cost Search │ ├── astart.py # A* Search │ ├── advs.py # MiniMax │ └── robot.py # Robot navigation logic ├── myrobot/ # ROS 2 workspace │ └── src/ │ └── my_robot/ │ ├── my_robot/ │ │ ├── ethiopia_search.py # BFS ROS 2 search node │ │ └── my_node.py # Base ROS 2 node │ ├── urdf/ │ │ └── three_wheel_robot.urdf.xacro # Robot model │ ├── worlds/ │ │ └── ethiopia.world # Gazebo world file │ ├── set …