Abstract:
The objective of this project is to examine the possibility ofcreating an autonomous vehicle capable of mapping andlocalization using a 250$Lidar. The result is vehicle which isremotely operated and provides a video stream for visualfeedback. While driving it also is capable of drawing a map ofthe surrounding objects relative to its current location. A bitarray representing the map is sent to a graphical user interface,where it gets assembled to a image and displayed. Making thevehicle operate autonomously has not been completed. Some research has been done and a navigational algorithm isavailable in code.
Where to start:
Main program start with AppManager. Everything we wrote of code is in the sub-folders to sdv. With the exception of the WheeledRobot-class that was re-written to fit with our odometric data. Furthermore, some changes were done in RMHCSLAM-class to adjust the particle filter.