Navigation, SLAM, and Goals
David Allen Blubaugh, Steven D. Harbour, Benjamin Sears, Michael J. Findler · Apress eBooks · 2022
In this chapter, our intrepid rover will explore the Egyptian catacombs. Any autonomous rover needs to know where it is in its environment; i.e., its current position. That way, the rover can travel from one location to the next without user input. To do this, the rover must construct an internal map of its environment as it travels. This chapter introduces the simultaneous localization and mapping (SLAM) algorithm. SLAM generates maps from navigation data, such as the odometry data from the rover’s wheel encoders and the laser range data from the LiDAR sensor.