Simulation and Implementation of 2D Laser Slam Algorithm for Mobile Robots
With the rapid development of unmanned driving technology,the SLAM method has attracted much attention due to its high accuracy and good stability.Based on the lidar sensor,the mainstream Gmapping and Cartographer algorithms are selected;the experimental environment is built;the two algo-rithms are compared,simulated and experimentally constructed.Finally,the in-depth analysis and discus-sion of the mapping effects of the two algorithms are carried out.The filter-based Gmapping algorithm has a small amount of calculation and relies on odometer information,and is suitable for small-scale and low feature environments;the graph-based Cartographer algorithm has low cumulative error and high accura-cy,and is suitable for applications with high accuracy and stability requirements.
mobile robot2D laser SLAMGmapping algorithmCartographer algorithmsimulation
万方数据
维普
