Research and Implementation of Synchronous Localization and Mapping and Autonomous Obstacle Avoidance Method for Multiple ROS Mobile Vehicles
A single ROS mobile vehicle is no longer able to complete the rapid and synchronous positioning and mapping of multi-type scenes.For this reason,it is necessary to carry out the collaborative localization and mapping and autonomous obstacle avoidance of multiple ROS robots.An omnidirectional mobile robot with McNamee wheel is selected as a single ROS vehicle,and four types of synchronous localization and mapping methods and effect research and comparisons of Gmapping,Hector,Karto and Cartographer are given,and the synchronous localization and mapping experiments of multiple ROS vehicles are completed.The experiment results show that the accuracy of the Gmapping-based method is the highest.This paper selects the method to realize the localization and mapping,designs the multiple ROS vehicles for cooperative obstacle avoidance based on the pilot-follower method on the basis of the obtained environment maps.The autonomous obstacle avoidance experiments with and without obstacles are carried out respectively,and the results verify the effectiveness of the autonomous obstacle avoidance strategy.
synchronous localization and mappingROS vehicleSLAMGmappingautonomous obstacle avoidance
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