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This paper presents the development of a Simultaneous Localization andMapping (SLAM) based Autonomous Navigation system. The motivation for thisstudy was to find a solution for navigating interior spaces autonomously.Interior navigation is challenging as it can be forever evolving. Solving thisissue is necessary for multitude of services, like cleaning, the healthindustry, and in manufacturing industries. The focus of this paper is thedescription of the SLAM-based software architecture developed for this proposedautonomous system. A potential application of this system, oriented to a smartwheelchair, was evaluated. Current interior navigation solutions require somesort of guiding line, like a black line on the floor. With this proposedsolution, interiors do not require renovation to accommodate this solution. Thesource code of this application has been made open source so that it could bere-purposed for a similar application. Also, this open-source project isenvisioned to be improved by the broad open-source community upon past itscurrent state.

Autonomous Navigation System from Simultaneous Localization and Mapping