在我国科学技术迅速发展的今天，移动机器人的智能程度在不断提升。同步定位与建图(Simultaneous Localization and Mapping，SLAM)算法是移动机器人自主导航实现的前提与关键。文章在ROS系统基础上分析了基于滤波器与基于图优化方法的SLAM算法原理，利用基于Jetson Nano硬件平台的移动机器人进行SLAM算法建图。文章针对建图中产生的地图错位漂移等问题进行研究讨论，分析得出Cartographer算法可在室内复杂环境下构建出误差低、精度高的 2D栅格地图，验证了该算法在室内环境较其他算法的优异性，为移动机器人在室内SLAM建图提供更可靠的解决方案。
Research on laser SLAM algorithm for mobile robot based on ROS
With the rapid development of science and technology in our country today,the intelligence level of mobile robots is also constantly improving.Simultaneous Localization and Mapping(SLAM)algorithm is the premise and key of autonomous navigation for mobile robots.In this paper,the principle of SLAM algorithm based on filter and graph optimization method is analyzed on the basis of ROS system,and the mobile robot based on Jetson Nano hardware platform is used to construct the SLAM algorithm.The problems of map dislocation and drift during map construction are studied and discussed,and the Cartographer algorithm can be used to construct 2D grid maps with low error and high accuracy in complex indoor environments,which verifies the superiority of this algorithm compared with other algorithms in the indoor environment,and provides a more reliable solution for SLAM mapping of mobile robots in the indoor environment.
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维普
