Filtering-RRT for Autonomous Indoor Navigation

This paper proposes a modified mapping approach for an autonomous navigation system to traverse unknown territories. The proposed method uses the features of Light Detection and Ranging (LiDAR) to self-explore its environment and create a map without human assistance using precise algorithms like Rapid Random Trees (RRT), GMapping, and ROS Navigation Stack. Further, a web interface is provided to control the robot from a non-Linux machine. Thus, the proposed solution is effective and self-sufficient for a flat space environment. The working of the developed robot is also demonstrated through autonomous mapping in a physical lab space.