LIO-AGV

This is a project I did for fun during my leisure time. In particular, I deployed FAST-LIO by Mars-Lab at HKU for state estimation and mapping, and programmed a simple planner and a controller. I also tidied up our controller with Scout Mini's Gazebo simulation. Below is the GitHub link and the map I built under a bridge under Hong Kong!

Out of curiosity, I also compared LIO with GPS signal near buildings. As the video shown below, due to multipath and NLOS, GPS behaves poorly. And that's why roboticists build SLAM!