Navigating unknown environment


I wonder how to navigate an unknown environment without a map? From my understanding, in order to be able to localize a robot, and use the global and local planners you need to load a pre-constructed map for the environment. What if the map is being constructed while the robot is exploring an unknown environment, can we give it a changing goal pose (but giving a goal pose depends on a pre-given map !!)?

What I am trying to do is to make the robot autonomously navigate an unknown environment and construct a full map for it? How can we tackle this problem, and how to make sure that the robot successfully covered all reachable areas in that environment?

Hello @Mohamed_Tolba ,

Iā€™d suggest you have a look at some of the product courses, where this topic is covered. For instance:

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