Outdoor robot navigation using gmapping based slam algorithm

Abstract

This paper presents the complete methodology followed in designing and implementing a tracked autonomous navigation robot which can navigate through an unknown outdoor environment using ROS (Robot Operating System). The concept is based on the mapping process using SLAM (Simultaneous Localization and Mapping) GMapping Algorithm. Implementation of the robot on the ROS platform is presented in this paper and experimental results are also presented validating the accuracy of the algorithm.