GenNav: A Generic Indoor Navigation System for Mobile Robots

摘要

This paper presents the conceptualization, algorithmic approach and implementation of generic indoor navigation system called GenNav.The navigation system performs tasks of Mapping, Localization (SLAM) and path-planning. The navigation system has been generalized by creating effective modularization and independence between the hardware actuators and software computation units. Additionally odometry data is estimated from the motion of the LiDAR module eliminating the need for dedicated motion sensors such as IMU and actuator encoders.GenNav has been implemented on a differential drive robot and on a quadrotor during simulation. The accuracy measurements have been conducted during hardware implementation of GenNav on a custom designed differential drive robot.