Devlog 3: We started working on our own custom SLAM from scratch for a roomba styled tracking system where the autonomous drone already knows where it has already searched

• The actual coding wasn’t completed very much but we fully understand how the whole system logic will work and what we have to code.

• To summarize it uses the flight controllers outputs like its yaw, position, and velocity to calculate an initial pose, then creates creates a grid of boxes that contain data to hold status like free, unknown, and blocked based off of the coordinates from our lidar data we converted.

• It then compares the map of lidar scans that moves based off the pose to the current scan, slowly making slight adjustments to find how much the drone actually moved in real life.

• This data is then used and converted into another grid that stores only where the drone has been and is used for the whole logic of not checking the same place over and over again.