What is the best way to learn autonomous navigation

I am looking to get into autonomous navigation for robotics. Does anyone have any experience with books, lectures, etc. in the space? I'd like to control a small robot as it drives around outdoors. I have experience with basic r pi robotics, but am looking for some high level guidance on what technologies to combine and what problems are already solved. With my budget I have access to basic Lidar, gps, accelerometer, image recognition, etc.