Optimization of autonomous navigation for mobile robots using laser SLAM technology
When conducting autonomous navigation,mobile robots have poor ability to avoid obstacles,resulting in a longer time required to complete tasks.Therefore,a method for optimizing autonomous navigation of mobile robots using laser SLAM technology is proposed.Using graph optimization theory,obtain the corresponding sub nodes of all pose extension nodes,calculate the pose with the smallest error through closed-loop detection,update the pose accord-ing to the SPA algorithm,and complete the pose estimation of the mobile robot.By using laser SLAM technology,the optimized pose of the mobile robot is output,and the A*algorithm is used to obtain the optimal passage path.The DWA algorithm is introduced to calculate the trajectory and achieve autonomous navigation optimization of the mobile robot.The experimental results show that the proposed method can accurately estimate the pose of mobile robots.After autonomous navigation optimization,the length of the autonomous navigation path of the mobile robot is only 1 900 mm,the number of turns is only 2,the running cycle is only 190,and the average speed is as high as 280 mm/s.It has good autonomous navigation optimization effect for mobile robots.
pose estimationlaser SLAM technologymobile robotsautonomous navigation optimization
NETL
NSTL
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