SLAM Practice on Unmanned Ground Vehicles

I have implemented some basic SLAM algorithms on unmanned ground vehicles (UGVs) including a TurtleBot and an Ackerman mini vehicle.

TurtleBot

I have implemented G-mapping on the TurtleBot.

▲ Running G-mapping on the TurtleBot

▲ The map generated by G-mapping

Ackerman mini vehicle

I have implemented Gmapping and RTAB-Map on the Ackerman mini vehicle. I also implemented a motion planning algorithm based on Dijkstra with TEB planner to navigate it through obstacles.

▲ The ackerman mini vehicle

▲ Running RTAB-Map on the Ackerman mini vehicle

▲ Navigating the Ackerman mini vehicle through obstacles using Dijkstra with TEB planner