https://github.com/mirkosertic/turtlebotlidar

Very simple Turtlebot simulation with added Lidar sensor
https://github.com/mirkosertic/turtlebotlidar

feature-detection html-css-javascript lidar robotics-simulation slam

Last synced: 4 days ago
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Very simple Turtlebot simulation with added Lidar sensor

• Host: GitHub
• URL: https://github.com/mirkosertic/turtlebotlidar
• Owner: mirkosertic
• Created: 2021-06-14T10:03:53.000Z (over 3 years ago)
• Default Branch: master
• Last Pushed: 2021-07-08T17:03:11.000Z (over 3 years ago)
• Last Synced: 2024-10-25T01:48:38.855Z (about 2 months ago)
• Topics: feature-detection, html-css-javascript, lidar, robotics-simulation, slam
• Language: JavaScript
• Homepage:
• Size: 386 KB
• Stars: 1
• Watchers: 2
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

        
# A 2D Turtlebot with Lidar simulation

## Inspiration

I want to know how my new robotic vacuum cleaner gets its work so well done.

[A demo is available here](https://mirkosertic.github.io/TurtleBotLidar/).

## What does it do?

* Very simple Turtlebot simulation with added Lidar sensor

* All written in HTML5/JavaScript and runs in your Browser

* Visualization of Lidar data

* Simple edge detector to detect contour of observed room

## Show me a screenshot!

![Simulation screenshot](doc/screenshot.png)

## How to build it

Checkout with `git clone https://github.com/mirkosertic/TurtleBotLidar.git` and `npm ci && npm run dev` should do it all.

## What is planned?

* Simulation of Lidar noise

* Simulation of turtle movement noise

* Kalman Filtering

* A very simple SLAM implementation, maybe with Pose-Graph-Optimization

* Derive robot position based from learned map, maybe with Particle-Filters.