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.

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!

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.