Autonomous Navigation System for Library Service Robot Based on Unitree Go2 Edu

摘要

Libraries require autonomous robots to move quietly through narrow aisles while remaining safe around readers, chairs, bags, and carts. This paper presents a ROS 2 navigation system for a Unitree Go2 Edu quadruped equipped with a 4D LiDAR, a front depth camera, and an IMU. Rather than assuming the library is rough terrain, we target the practical mobility discontinuities of real deployments, including floor transitions, temporary clutter, and partially blocked passages where low-clearance wheeled platforms are less tolerant. RTAB-Map is used for visual-LiDAR SLAM, AMCL and EKF-based sensor fusion provide localization, and a Nav2 stack with A* and DWA supports planning and local avoidance. In a real library, the system achieves 100%, 96%, and 88% success rates in static, low-density dynamic, and high-density dynamic scenes, while map validation against surveyed control distances yields a mean metric error of 3.7 cm.