Research on Simultaneous Localization and Mapping of Mobile Robot Based on Improved Karto Algorithm

The simultaneous localization and mapping (SLAM) of mobile robot is one of the important technologies of mobile robot application., which has been paid much attention. Laser SLAM., as the most traditional SLAM algorithm., has been widely used in mobile robots. In this paper., the problem of synchronous positioning and mapping of mobile robot is studied. Ceres back-end optimization library was introduced into the back-end to improve Karto algorithm to eliminate the phenomenon of overlapping in the process of mobile robot mapping and achieve more accurate mapping effect. Finally., simulation experiments based on ROS experimental platform are carried out to verify the effectiveness of the algorithm.