Last week, we were able to finish our SLAM Preliminaries and our simulated robot can now map its environment. However, it still cannot map all kinds of environments properly.
These are screenshots from msrs. In the first picture, the sonar has a 1-m range, while on the second picture, it has a 1.5m-range.
When the sonar range is 1 meter, the robor is unable to explore the rightmost part of the maze. While on the second scenario, it is able to complete the map. However, it is possible for it to be stuck somewhere in the map, as shown in the picture.
We would like to fix this problem during the EKF SLAM coding phase.
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