Description

In this project, I programmed Turtlebot3 robot to autonomously explore and map a simulated environment, using SLAM toolbox and autonomous exploration algorithm.

Take a look at the project on my GitHub page.

The Turtlebot exploring a scene in Rviz (speed X5)

Overview

This projects contained 4 parts:

1. Manually mapping the Gazebo workspace using `turtlebot3_teleop`.
2. Localizing and moving the turtlebot using `AMCL` ROS navigation stack with the map created in the previous step.
3. Mapping the workspace while navigating (manual navigation).
4. Autonomously mapping the environment.

In the following video, I manually moved the turtlebot in a previous created map:

Moving the turtlebot using previous created map (speed X2)

In the following video, the turtlebot maps the workspace while navigating between manually insert goal-points:

Mapping the workspace while navigating (speed X2)

In the forth part, I used goal-points on the edge of the explored map to make the turtlebot map the workspace. For the exploration, I used Frontier Exploration algorithm.

In the following video, the turtlebot maps the workspace autonomously. The generated map presented below it:

Autonomously mapping the environment (speed X10)

The map generated