Real-time SLAM and Path Planning for Mobile Robot in Unknown Indoor Environment

Abstract

In this paper, a navigation system for autonomous mobile robot is presented. Real-time SLAM is achieved. A 2D laser range finder is used to avoid obstacles and solve the SLAM problem with wheel odometry. Finally, the position of the robot and a map containg the position of all the detected features is output for other applications. With the results from SLAM, the robot has a map to chart its course and then it can autonomously find the shortest path using A* (A-star) algorithm, which efficiently calculates the optimal route.