A Low-Cost 3D SLAM System Integration of Autonomous Exploration Based on Fast-ICP Enhanced LiDAR-Inertial Odometry

摘要

Advancements in robotics and mapping technology have spotlighted the development of Simultaneous Localization and Mapping (SLAM) systems as a key research area. However, the high cost of advanced SLAM systems poses a significant barrier to research and development in the field, while many low-cost SLAM systems, operating under resource constraints, fail to achieve high-precision real-time mapping and localization, rendering them unsuitable for practical applications. This paper introduces a cost-effective SLAM system design that maintains high performance while significantly reducing costs. Our approach utilizes economical components and efficient algorithms, addressing the high-cost barrier in the field. First, we developed a robust robotic platform based on a traditional four-wheeled vehicle structure, enhancing flexibility and load capacity. Then, we adapted the SLAM algorithm using the LiDAR-inertial Odometry framework coupled with the Fast Iterative Closest Point (ICP) algorithm to balance accuracy and real-time performance. Finally, we integrated the 3D multi-goal Rapidly exploring Random Tree (RRT) algorithm with Nonlinear Model Predictive Control (NMPC) for autonomous exploration in complex environments. Comprehensive experimental results confirm the system’s capability for real-time, autonomous navigation and mapping in intricate indoor settings, rivaling more expensive SLAM systems in accuracy and efficiency at a lower cost. Our research results are published as open access, facilitating greater accessibility and collaboration.