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Is this a SLAM or ACML kind of problem?

asked 2018-11-03 00:43:13 -0500

NicolasMontoya gravatar image

So let's say I need to construct an autonomous robot that has to navigate a premade map where obstacles will be randomly placed at the start of every round, but the wall placement and everything else in the map stays the same. Would I use SLAM to generate a new map (for the new obstacles) or should I just implement an ACML type of solution since I already know what the map looks like and since it won't change significantly; the robot just has to avoid the objects (or hit them if necessary)?

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answered 2020-07-06 09:19:31 -0500

pitosalas gravatar image

This sounds to me like an AMCL problem. You could make the map "by hand" or using SLAM. But once you have it, AMCL will be able to figure out where the robot is on the map, and the navigation stack will use that to compute paths, while in real time it uses /scanner data to avoid obstacles not on the map

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You will also need to find a way to clear spaces marked as obstacles while SLAM

parzival gravatar image parzival  ( 2020-07-06 09:36:58 -0500 )edit

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Asked: 2018-11-03 00:43:13 -0500

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Last updated: Jul 06 '20