Research on the SLAM of Mobile Robot Based on Particle Filter Method

被引：0

作者：

Wei, Yuhai ^{[1
]}

Zhang, Hui ^{[1
]}

Deng, Guang ^{[1
]}

Zhong, Hang ^{[2
]}

Liu, Li ^{[2
]}

机构：

[1] Changsha Univ Sci & Technol, Coll Elect & Informat Engn, Changsha 410012, Peoples R China

[2] Hunan Univ, Coll Elect & Informat Engn, Changsha 410082, Peoples R China

来源：

2019 9TH IEEE ANNUAL INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (IEEE-CYBER 2019) | 2019年

基金：

国家重点研发计划; 中国国家自然科学基金;

关键词：

SLAM; Path planning; Lidar; Mobile robot; SIMULTANEOUS LOCALIZATION; NAVIGATION;

D O I：

10.1109/cyber46603.2019.9066616

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper mainly studies mobile robots under ROS (Robot Operating System), combined with lidar and odometer information collection, to solve the indoor robot SLAM (Simultaneous Localization and Mapping) and path planning technology problems. For this problem, this paper solves this problem based on ROS and mobile robot. In order to improve the computational efficiency and positioning accuracy of the robot in SLAM, SALM algorithm based on particle filter is adopted in this paper to complete the positioning and map creation functions of the robot in the unknown environment. At the same time, the path planning algorithm provided by ROS navigation function package is used to complete the navigation of the robot in the global map of the known environment, and the obstacle avoidance function of local map. The experimental results show that this technology can construct high -precision two-dimensional grid map and realize high -precision positioning and optimal path planning of the robot.

引用

页码：1640 / 1645

页数：6

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