Unknown environment exploration and mapping for an autonomous robot

• Main Author: Su, Marco Zhen Yi
• Other Authors: Xie Lihua
• Format: Final Year Project
• Language: English
• Published: Nanyang Technological University 2020
• Subjects: Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
• Online Access: https://hdl.handle.net/10356/140412
• Institution: Nanyang Technological University

With autonomous ground vehicles getting more developed recently, it is being widely deployed across many industries to help reduce the workload of people. Many of these autonomous ground vehicles make use of Simultaneous Localization and Mapping (SLAM) technique to navigate about the environment. But there is a common problem of having to navigate an unknown environment without having a map of the place, it is unable to build a map and explore the environment accurately. This project studies the different types of SLAM techniques used and navigation techniques through various testing of hector SLAM and SLAM Gmapping for mapping of an unknown environment. Husky frontier exploration implementation will be discussed on navigation stage using a virtual robot and virtual map. Navigation and mapping were achieved with a target goal sent to the robot. It is able to avoid collisions with obstacles and reach its target goal while mapping the environment.