Comparation of the 2D LIDAR SLAM methods in the simulation and in the real world

This thesis deals with the design of a mobile robotic platform with the ability to build a map with an already existing 2D SLAM algorithm and a comparison of this algorithm in simulation and the real world. It uses three known algorithms i.e. Hector slam, Gmapping, and Karto slam. The part of this work deals with the creation of two wheels differential drive robot models in the Gazebo simulator and with an implementation proposal that is realized with the ROS framework. In thesis is implemented basic localization technique for mobile robots. Planning algorithms and a path controller are mentioned. In thesis is proposed own access to an autonomous exploration of building to build a map of the building. For evaluation of the SLAM algorithm is suggested slam quality criterion