Mapping
- The “How” the robot understands and remembers its surroundings
- the key to giving machines vision and memory
- The process of transforming raw sensor data → coherent representation of the environment
Occupancy Grid Mapping (OGM)
- Divides the world into a grid
- each square represents a section of space in real life
- populates it with three types of squares
- free: nothing is at the square
- unknown: The square is unknown if the robot’s sensor has not seen the square
- occupied: there is a wall / object at the position
Localization
Planning
Control