SLAM Algorithm Analysis of Mobile Robot Based on Lidar

In this work, we tested Simultaneous localization and mapping (SLAM) about mobile robots in indoor environment, where all experiments were conducted based on the Robot Operating System (ROS). The urban search and rescue(USAR) environment was build in the ROS simulation tool Gazebo, and our car was u...

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Bibliographic Details
Published in2019 Chinese Control Conference (CCC) pp. 4739 - 4745
Main Authors Xuexi, Zhang, Guokun, Lu, Genping, Fu, Dongliang, Xu, Shiliu, Liang
Format Conference Proceeding
LanguageEnglish
Published Technical Committee on Control Theory, Chinese Association of Automation 01.07.2019
Subjects
grid maps
hector SLAM
Laser radar
lidar
Mobile robots
Optimization
Simultaneous localization and mapping
SLAM
Two dimensional displays
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Summary:In this work, we tested Simultaneous localization and mapping (SLAM) about mobile robots in indoor environment, where all experiments were conducted based on the Robot Operating System (ROS). The urban search and rescue(USAR) environment was build in the ROS simulation tool Gazebo, and our car was used to test hector SLAM in Gazebo. The rplidar A1 single-line lidar was used for 2D laser scan matching data acquisition in the practical experiments and the indoor map was built by using the open source algorithms gmapping, karto SLAM, hector SLAM software package for indoor SLAM, which can get the indoor grid maps in ROS graphical tool RVIZ. The experimental results of the three open source algorithms show that the mobile robot for simultaneous localization and mapping (SLAM) is feasible, and high-precision grid maps can be constructed.
ISSN:2161-2927
DOI:10.23919/ChiCC.2019.8866200