tinySLAM: A SLAM algorithm in less than 200 lines C-language program

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Abstract
This paper presents a Laser-SLAM algorithm which can be programmed in less than 200 lines C-language program. The first idea aimed to develop and implement a simple SLAM algorithm providing good performances without exceeding 200 lines in a C-language program. We use a robotic platform called MinesRover, a six wheels robot with several sensors. We based our work and calculations on a laser sensor and the odometry of the robot. The article presents the different capabilities of the platform and the way we use them in order to improve our programs. We also illustrates the difficulties encountered during the programming and testing of the algorithm. This work shows the possibility to perform complex tasks using simple and easily programmable algorithms.