Welcome to MENA: Mapping Environment and Navigation Wiki!

About

This is a blog dedicated to provide a step by step update to the project from start to finish.

The wiki will consist of multiple pages providing step by step insight on how the implementation is done from start to finish, with all the challenges faced and steps taken to overcome those challenges.

Problem Definition

This work presents the development of a robot capable of intelligent room sensing, navigation, and 3D mapping using 3D LiDAR technology.

Aims

The first aim of this project is to provide a solution to navigating a given room. This will be achieved by creating a smooth navigation software solution which is capable of traversing along the outline of different rooms using a wall following mechanism. To achieve the first aim, the following objectives will need to be met:

• Choose a robot with suitable specifications.
• Implement a wall following algorithm.
• Test the implementation on different rooms.
• Analyse the results of the robot's ability to navigate the different rooms.

The second aim is to then map this same room, adding to the software solution by producing a live full view 3D map. To achieve the second aim, the following objectives will need to be met:

• Add the required sensor for mapping
• Identify the robot's distance from the wall at any location.
• Identify the position and orientation of the robot in real-time as it moves.
• Draw a live 3D map while navigating around and the room.
• Save the map to a file in a local directory.

Evaluation Strategy

We intend to test the robot by spawning it in different Gazebo worlds. The robot should be able to discover the room and give us a live mapping and save an accurate representation file for the room.