Development of GenNav: A Generic Indoor Navigation System for any Mobile Robot

The navigation system is at the heart of any mobile robot. It consists of both the SLAM and path planning units, which the robot utilizes to generate a map of the environment, localize itself within it and generate a path to the destination . This paper describes the conceptualization, development, simulation and hardware implementation of GenNav a generic indoor navigation system for any mobile aerial or ground robot. The hardware actuators and software computation units are modularized and made independent of each other, by providing an alternate source of odometry from the Lidar. Hence the actuators used for locomotion are no longer required to carry their own source of odometry and system can be generalized to a wide variety of robots, with different type and orientation of actuators.