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I am also working on similar problem. What I have done is I have broken down the whole task into three smaller problem. 1) Goal calculation - I use the LIDAR based SRT algorithm. It is sensor based random tree algo that uses some kind of heuristics to calculate goal position in free space. 2) Obstacle avoidance - I use potential field method to decide the robot velocity and steering direction so that robot can move to desired position calculated in 1). 3) Line/edge SLAM - Based on odometry and LIDAR data I do SLAM to prepare the environment edge map. This will in turn fed into algorithm 1 to further refine goal calculation.

Individually the algorithm are working as intended. However, I am facing some problem while integrating 1) and 2).

I hope this helps. Let me know if you want to know more information.