Research on Mobile Robot System Based on 2D Laser Slam
WANG Qinghui
ZHANG Jianying
Abstract：Map building in indoor mobile robot system is of great significance to the robot's precise positioning and navigation.Cartographer algorithm based on graph optimization theory is adopted,and the data of lidar,odometer and IMU sensor are fused to complete the robot's map building function.Aiming at the problem that the algorithm has poor mapping effect under the condition of low-cost hardware,and the map drifts or obstacles disappear easily after using wheeled odometer,a method of fusing odometer and IMU data by using extended Kalman filter(EKF)is proposed,which combines with Cartographer algorithm to provide more accu-rate initial pose estimation and reduce the cumulative error of front-end matching.Secondly,the algorithm is better adapted to the hardware system by parameter optimization and adjustment.At the same time,on the robot hardware platform,the mapping effect before and after the algorithm optimization is compared.The experimental results show that this scheme can effectively improve the effect of mapping.
Keywords：SLAMCartographerEKFgraph optimization
Publication Date：2025-01-19
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：6( 57-62 )