SLAM_project

Main function:

This code loads sensors' data, combined analysis readings from encoder, 2D lidar and FOG sensor, and generate map of surrounding environment of robot.

Usage

1. create "sensing_data" file
   
2. change the parameter in map_init.py
   
3. add sensors' data file to directory
   
4. run main.py

Sensing Data Usage:

Encoder: 2 * n, left wheel, right wheel
FOG: 3 * n, delta angle in x, y, z
2D-Lidar: 286 * n, obstcle location in different directions

Output:

SLAM mapping