I've been working on my project for some time now, but, I'm pretty much stalled out on this part. I've built my robot.. He can wonder around and avoid stuff.. but, I really want him to be able to navigate from point A to point B. The bot is a PC based robot. His program is written in python. I'm hoping to add some sort of mapping, localization and navigation to him. A stand-alone program that allows me to build a initial map.. Then set him loose to update the map based on his sonars, IR and encoders. Be able to localize his position based on the sensor readings.. and navigate around using waypoints etc.. The bot has 6 sonars, 4 IR's and a Compass. Anyone have anything like this or willing to help get me started?