Mapping robot

i want make robot drives around room or maze , maps out 2d floor plan. plan put high quality proximity sensor rotatable servo on small robot. proximity sensor (or maybe sensors, if need extra) sensor on robot. robot scan room, , attempt autonomously angle on points of wall. think best way have robot detect spots on "map" (which thinking sort of 2d matrix plot) jagged , discontinuous, drive around , try better angle on spots, should smooth out map. robot know comparing distances , angles proximity sensor , servo current map, , estimating distance traveled using travel time. robot job hoping this, when finished, able more advanced things.

so, possible, , have advice or ideas?

also, can suggest proximity sensor? suppose needs have decent range, accurate, , take measurements quickly. i'm open using instead of sensor on servo, don't know else use.

thanks!

i don't know how you'd represent map, if it's 2d grid of occupied/clear cells you're going need large amounts of data worth while. planning put on sd card, or something?

calculating position dead reckoning not going accurate , trying use previously-discovered map results tell think hard effectively.

if of obstructions in room/maze moving/moveable, bets off.

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