Yep, lots of reading to go through. Looks like will be starting with a map and some dead reckoning and then looking out for wall elements and trying to map those onto the map to refine the position and build up the map. Now working with 6 sonar and 6 PIR to arrive as its simpler at the moment to detect movement for testing. Eventually thats just software, am I moving Y/N, has the sonar distance changed Y/N etc. Knocking up a chassis topped with a wok next

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