Research of Cartographer Graph Optimization Algorithm Based on Indoor Mobile Robot

摘要

Abstract In the recent years, mobile robot technology has received widespread attention from all over the world, and Simultaneous Localization and Mapping (SLAM) technology has always been a hot topic for researchers. In this paper, the Cartographer graph optimization SLAM algorithm is studied. Aiming at the problem that loopback detection may have wrong loopback points in the presence of noise, similar and uniform characteristics, a delay judgment module is added to filter the wrong loopback points. The Cartographer algorithm before and after optimization is deployed to the mobile robot platform based on ROS, and a 2D laser scanner is used for the map of indoor building. The experiment results prove that after the algorithm is improved, the overall relative error of the map is reduced by 1.148%, and the accuracy of mapping is improved.