The video below shows a Pioneer 3 with a SICK laser range finder in the Microsoft Robotics Studio simulation environment. The robot control application uses Karto SDK modules to enable the robot to autonomously explore and map its environment.
At the start of the application, the robot knows nothing about its environment. It begins by performing an initial laser scan and uses the Karto Mapping module to create a partial map of its environment. It uses the Karto Exploration module to determine goal positions (shown as empty boxes) within the partial map which the robot needs to explore. It uses the Karto Path Planning module to determine a path to travel from its current position to the next goal position. As the robot travels from goal to goal, it updates the map with information from additional laser scans and adds goal positions when it encounters new areas that need to be explored.
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