This project implements a complete SLAN framework for autonomous mobile robots using Python and CoppeliaSim. It integrates real-time LiDAR-based mapping, EKF localization, frontier-based exploration, A* path planning, and a simple loop closure mechanism.
- Occupancy grid mapping using log-odds
- EKF-based pose estimation
- Frontier-based goal selection
- A* path planning
- Real-time visualization
- Loop closure correction via pose history comparison
See requirements.txt for dependencies.
# Clone the repository
https://github.com/YOUR_USERNAME/YOUR_REPO_NAME.git
cd YOUR_REPO_NAME
# Install dependencies
pip install -r requirements.txt
# Run the main SLAN simulation
python main.py├── main.py # Main loop for SLAM and navigation
├── occupancy_grid.py # Mapping logic
├── localization.py # EKF localization with loop closure
├── mapping.py # Frontier detection and A* path planning
├── controller.py # Motion control logic
├── sensors.py # LiDAR data handling
├── bresenham.py # Ray tracing algorithm for grid updates
├── requirements.txt # Python package dependencies
├── README.md # Project overview and instructions
- Sadiq Abubakar
- Mohib Riyaz
- Professor Andrea Cherubini