Many members of this forum have discussed and built many styles of indoor navigation. Some designs were fairly simple with minimal accuracy. Some were developed with great sophistication and complexity and of course the resulting ability was very good.
Some controls were based on camera feedback using glyphs, colors or objects as way points, ultrasonic distance measurements, compass directions, encoder values, LIDAR feedback etc. etc. as stand alone sensors, or in combinations. Also beacons, and other point of location devices are used for references as robot is here.
I am curious what has worked for you and what has not. I am not looking for the details of the script you built (unless you want to share it), but rather a direction to go to build something that will work reasonably well. Information on your successes and failures would be appreciated. I have built a few scripts, but never got what I really wanted. I would also like to keep the cost down, so I rather not use LIDAR and specialty sensors.
I have an Adventure Bot which has a camera on a servo, 3 ultrasonic sensors mounted front and sides, a compass which is not currently mounted, but available, and the ability to get pulsed signals from the 5 spoke wheels mounted on the continuous servos (poor man encoder ( approx. 1.67 inches or 42.7 mm per step)).
Open for discussion.
I look forward to feedback on this subject.