Building an environment map and navigation of an autonomous mobile robot

For any vehicle or mobile robot can be considered independent should be able to navigate on their environment. In this paper is exposed, emphasizing the localization algorithms (SLAM and AMCL) and the Potential Fields Planification (PFP) algorithm, the integration and implementation of one of the most used Robotics navigation methods in the service robot Donaxi@HOME. This method is enough precise and dynamic to be adapted to any type of land vehicle that you want to automate, if it has the minimum requirements.