LiDAR-only based SLAM and Ackermann Drive Navigation System, Using ROS Gmapping

The aim of this work is to realize SLAM using only a low-cost, stand-alone LiDAR and verify its practicality on 4-wheeled drive Ackermann Vehicles. One of the current major SLAM methods is Gmapping. It serves high map accuracy by use of odometry. Therefore, we propose a system that uses the temporal difference information of LiDAR scans as a substitute for odometry and performs mapping and navigation using only LiDAR, on ROS. The contribution of this study is to show that the accuracy of maps generated by Gmapping using only one LiDAR can be performed with higher accuracy than Cartographer and Hector SLAM. We also showed that several types of navigations using only LiDAR using these maps are possible.