Research and Implementation of SLAM Based on LIDAR for Four-Wheeled Mobile Robot

摘要

Aiming at the high hardware cost of simultaneous positioning and mapping (SLAM) for mobile robots, a mobile robot system using LIDAR(Light Detection and Ranging) for obtaining date observing is designed. The experiments Based on robotic operating system (ROS), using laser radar to acquire 2D laser scanned matching data and an open source GMapping software package for SLAM, RVIZ (3D visualization tool for ROS) is adopted to achieve indoor mapping in an unknown environment. The experimental results show that the mobile robot designing scheme is feasible, and it can construct a high-precision map, meanwhile it also reduces the hardware cost of the mobile robot SLAM.