Robot obstacle avoidance using bumper event

In this paper we have developed a simple algorithm for robot obstacle avoidance using bumper event. This algorithm is implemented on Turtlebot (a robot model) in the Gazebo simulator and on a real Turtlebot robot. The bumper and state fields of robot's bumper event are studied for the different command velocities. The experimental results are shown by Mat plots using ROS (robot operating system) tool `rqt'.