2D Hector SLAM of Indoor Mobile Robot using 2D Lidar

Abstract

Laser Range Finders are being widely used in SLAM research. In this paper, a 2D-SLAM algorithm based on LiDAR in the robot operating system (ROS) is evaluated, the name for the same is Hector-SLAM. In order to reflect the ability of building maps by using Hector-SLAM algorithm, experiments were carried out in a custom build L shaped environment. The map was created in real time and we can also observe the path that was followed by the mobile robot during the whole process. Finally, a 2D map of the L shaped environment was further saved in the system which can be further used for various applications.