Mobile robot navigation based on lidar

摘要

A wheeled mobile robot based on Arduino was described in this article. Hardware selection, Simultaneous Localization and Mapping (SLAM), Path Planning and the principle of the algorithm applied in this process are introduced in detail. The algorithm used in ROS is further verified by experiments. In order to verify the feasibility of two different 2D SLAM algorithms, we use the wheeled robot built in the lab to do the experiment in the same indoor environment and compare their results.