This project was my first foray into Self-Driving Car technology and was chosen to get my feet wet with Robot Operating System (ROS), LIDAR, and common Simultaneous Localization and Mapping (SLAM) algorithms. 

After getting ROS onto the lab Pioneer wheeled robot I was able to implement a gmapping algorithm. Using the LIDAR, wheel encoder data, and the gmapping algorithm - I was able to create an accurate map of the floor plan. 

The map was then used in conjunction with a SLAM algorithm and a navigation program I created to patrol the lab whilst avoiding obstacles.