The navigation system is at the heart of any mobile robot it comprises of SLAM and path planning units, which is utilized by the robot to generate a map of the environment, localize itself within it and determine an optimal 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 generalization is brought about by modularizing and creating independence between the software computation and hardware actuation units by providing an alternate source of odometry from the LiDAR eliminating the requirement for dedicated odometry sensors. The odometry feedback from the LiDAR can be used by the navigation computation unit and the system can be generalized to a wide variety of robots, with different type and orientation of actuators

中文翻译：

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GenNav：适用于任何移动机器人的通用室内导航系统

导航系统是任何移动机器人的核心，它由 SLAM 和路径规划单元组成，机器人利用这些单元生成环境地图、在其中定位自身并确定到达目的地的最佳路径。本文描述了 GenNav 的概念化、开发、仿真和硬件实现，这是一种适用于任何移动空中或地面机器人的通用室内导航系统。通过提供来自 LiDAR 的替代里程计源，消除对专用里程计传感器的需求，在软件计算和硬件驱动单元之间模块化和创建独立性，从而实现了通用化。来自 LiDAR 的里程计反馈可以被导航计算单元使用，并且该系统可以推广到各种机器人，