SLAM Algorithm Analysis of Mobile Robot Based on Lidar | IEEE Conference Publication | IEEE Xplore

SLAM Algorithm Analysis of Mobile Robot Based on Lidar


Abstract:

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 Op...Show More

Abstract:

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.
Date of Conference: 27-30 July 2019
Date Added to IEEE Xplore: 17 October 2019
ISBN Information:

ISSN Information:

Conference Location: Guangzhou, China

Contact IEEE to Subscribe

References

References is not available for this document.