Localization and Navigation for Indoor Mobile Robot Based on ROS

摘要

In view of the high cost and complex structure of autonomous navigation robots in indoor environment, a low-cost, high-performance and simple structure scheme of mobile robot positioning and navigation is proposed and verified experimentally. A modular mobile robot platform was designed and the robot control system was divided into two parts: the upper control system and the real-time control system, which improved the stability of the system and reduced the coupling between modules. Lidar and RGB-D camera Kinect are used as main sensors to obtain information about the surrounding environment. The robot software system is developed by using a distributed software framework of robot operating system (ROS). The SLAM algorithm based on particle filter is used to achieve Simultaneous Localization and Mapping (SLAM) in an unknown environment. The experimental results show that the system can build a map that is consistent with the environment in the indoor environment, and can complete the autonomous navigation task according to the created map. It not only has low cost and high performance, but also has the characteristics of short development cycle and easy expansion.