Autonomous mapping and navigation are critical capabilities for mobile robots. This project utilized the TurtleBot3 platform to implement algorithms for simultaneous localization and mapping (SLAM), static and dynamic obstacle avoidance, and autonomous path planning. Using a frontier-based exploration approach, the robot systematically explored unknown environments to build a map by identifying unexplored regions and planning optimal paths using the A* algorithm. Real-time obstacle detection was integrated to enable dynamic replanning when encountering moving obstacles, ensuring robust and collision-free navigation.
The project successfully demonstrated the potential of combining SLAM and path-planning techniques to create intelligent robotic systems capable of navigating and mapping complex environments autonomously. Future work could include deploying the system in outdoor environments and optimizing the algorithms for faster real-time performance.
The code for this project can be found here.
Demonstration Videos: (TODO)