  This paper presents the development of a Simultaneous Localization and
Mapping (SLAM) based Autonomous Navigation system. The motivation for this
study was to find a solution for navigating interior spaces autonomously.
Interior navigation is challenging as it can be forever evolving. Solving this
issue is necessary for multitude of services, like cleaning, the health
industry, and in manufacturing industries. The focus of this paper is the
description of the SLAM-based software architecture developed for this proposed
autonomous system. A potential application of this system, oriented to a smart
wheelchair, was evaluated. Current interior navigation solutions require some
sort of guiding line, like a black line on the floor. With this proposed
solution, interiors do not require renovation to accommodate this solution. The
source code of this application has been made open source so that it could be
re-purposed for a similar application. Also, this open-source project is
envisioned to be improved by the broad open-source community upon past its
current state.
