Sensor fusion based multiple robot navigation in an indoor environment

Navigation in autonomous mobile robots involves determining the robot's position and orientation in its environment and planning its motion to a desired destination. This requires a combination of sensors, control systems, and algorithms to achieve robust and reliable performance. Sensors used for navigation include LIDAR, Wheel encoders, and IMU. These sensors give information regarding the robot's surroundings and its own motion, which can be fused to estimate its position and orientation. Odometry estimates the position and orientation of the vehicle based on its wheel encoders and IMU (Inertial Measurement Unit). LIDAR, on the other hand, provides precise distance measurements to nearby objects and is used to construct a 2D map of the environment. The presented work describes how a ROS-based system is used with two bots equipped with LIDAR for autonomous indoor navigation.