Autonomous Navigation System from Simultaneous Localization and Mapping

TL;DR

This paper introduces a SLAM-based autonomous navigation system designed for interior spaces, eliminating the need for guiding lines and enabling applications like smart wheelchairs, with open-source code for community improvement.

Contribution

Developed a novel SLAM-based software architecture for interior autonomous navigation that does not require interior modifications or guiding lines.

Findings

Successfully implemented a SLAM-based navigation system for interior environments.

Evaluated the system with a smart wheelchair application.

Made the source code open source for community-driven enhancements.

Abstract

This paper presents the development of a Simultaneous Localization and Mapping (SLAM) based Autonomous Navigation system. The motivation for this study was to find a solution for navigating interior spaces autonomously. Interior navigation is challenging as it can be forever evolving. Solving this issue is necessary for multitude of services, like cleaning, the health industry, and in manufacturing industries. The focus of this paper is the description of the SLAM-based software architecture developed for this proposed autonomous system. A potential application of this system, oriented to a smart wheelchair, was evaluated. Current interior navigation solutions require some sort of guiding line, like a black line on the floor. With this proposed solution, interiors do not require renovation to accommodate this solution. The source code of this application has been made open source so that it could be re-purposed for a similar application. Also, this open-source project is envisioned to be improved by the broad open-source community upon past its current state.