I’ve been pondering routing and path planning, both from the algorithmic and implementation perspectives. Since a fundamental task of the rover is safe mobility I thought it should get a little attention while I still have some time to get the hardware and sensors ‘just right’. I figured out how to do SLAM and be happy with the difference between rectangular map data and polar sensor sweep data, and still align the two for both heading and location.
[edit: this was never on the old site; it was just a fragment of a draft I had started. For my own sanity I’m leaving it here as a reminder to myself to look back at my old paper and iPad notes on SLAM ]2