Design and Implementation of ROS-Based Autonomous Mobile Robot Positioning and Navigation System

摘要

Aiming at the problem of positioning and navigation of mobile robots indoors, this paper designs and implements related functions based on Robot Operating System and laser radar. The core controller of the robot adopts an industrial computer, and is equipped with a laser radar to acquire information about the surrounding environment and develop related algorithms on the Robot Operating System. Realize Simultaneous Localization and Mapping function based on Cartographer algorithm, path planning based on optimal path algorithm and navigation function based on particle filter algorithm. The real machine experiment proves that the system can efficiently perform real-time synchronous positioning and map construction and navigation functions.