LIDAR-based Robot for Localization and Mapping

This paper presents an application of LIDAR sensor on a robot for 2D mapping construction of an environment and its capability to localize its own location. RP LIDAR is used and computational processing is done by using Robot Operating System (ROS). Mapping of the environment is done and with addition of localization of the robot with respect to static landmarks were also conducted. From the results, it can be seen that map of the environment is able to be reconstructed and several locations with respect to marking points are able to be identified with an average of 97% accuracy.