Mapping of an Unknown Indoor Environment Using 2D- Lidar and ROS for Mobile Robot Navigation

Abstract

Navigation is one of the most challenging tasks for a mobile robot. Mapping and navigation of robots are gaining importance in the areas such as industry, military, exploration and automated vehicles. The mapping and navigation algorithms are absolutely necessary in the environments that are hard to reach by human beings. In order to support the navigation algorithms, Light Detection and Ranging (LIDAR) sensor is needed to create the map of unknown environment. This research paper exhibits a work on mapping of an unknown indoor environment using 2D RP-LIDAR and Gmapping technique in ROS. The scanning results are presented by plotting the maps using Rviz tool in ROS. The results shows that the maps plotted using LIDAR and ROS are matching to the real environment which can be used in indoor navigation applications.