This project aims to implement the Grid-based FastSLAM algorithm on a Turtlebot. FastSLAM is a probabilistic algorithm for solving the Simultaneous Localization And Mapping (SLAM) problem. FastSLAM uses particle filters where each particle represents its belief of the robot's pose. Each particle also has a map that it updates by taking laser scan measurements of its environment.
[1] Dr.Cyrill Stachniss, Robot Mapping course, University of Freiburg. https://www.youtube.com/watch?v=3Yl2aq28LFQ&index=15&list=PLgnQpQtFTOGQrZ4O5QzbIHgl3b1JHimN_
[2] Thrun et.al., Probabilistic Robotics