Deploy Indoor 2D Laser SLAM on a Raspberry Pi-Based Mobile Robot

摘要

In the past few decades, the autonomous navigation of mobile robots has been a research hotspot and SLAM technology has been widely used in mobile robots' autonomous navigation. This paper presents a low-cost hardware and software description of an indoor mobile robot platform based on a Raspberry Pi board. A 2D laser scanner and Gmapping SLAM based on RPBF is used for the map building. This system consists of multiple nodes distributed to several devices, mainly running on ROS within a Raspberry Pi board. An Experiment was carried out with the simulated environment in the laboratory. The result shows the robust navigation procedure of the robot and verifies the feasibility of deploying 2D indoor SLAM on embedded platforms.