Figure14

Figure 14. Illustration of the scenario in Figure 13 navigation and mapping simulation. (A) It depicts the robot traversing a majority of the map, while avoiding obstacles in the environment. (B) It illustrates a polar histogram and how the obstacles are viewed while the robot is in motion, as well as points of high impact. The obstacles are viewed as lines since the LiDAR sensor can only see the part of the object that faces the LiDAR sensor. The picked direction portion of part (B) depicts the probability of colliding with obstacles while also selecting the best direction to move the robot. (C) It demonstrates the map being simultaneously built as the the robot traverses the established trajectory.