Open AccessSlam and navigation of indoor robot based on ROS and lidar
Author(s) -
Xing Yang
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1748/2/022038
Subject(s) - robot , particle filter , computer science , lidar , obstacle , obstacle avoidance , simultaneous localization and mapping , mobile robot navigation , computer vision , artificial intelligence , service robot , mobile robot , motion planning , navigation system , filter (signal processing) , robot control , geography , remote sensing , archaeology
For indoor service robot, this paper designs an indoor robot based on ROS (robot operating system) operating system. The robot uses two-dimensional lidar as the core sensor to collect the depth information of the environment and uses SLAM algorithm based on particle filter to realize the robot mapping; Based on the framework of ROS, A* algorithm and DWA algorithm are used to realize the navigation function of the robot; The map and navigation are simulated in the gazebo simulation environment to verify the function of path planning, local obstacle avoidance and navigation.