Design of an Indoor Surveying and Mapping Robot Based on SLAM Technology

摘要

Simultaneous localization and mapping (SLAM) are a key technology for indoor mapping and navigation of mobile robots. As traditional surveying and mapping work depends on the general simple tools or Artificial completed exist inaccuracies, insecurity and high repeatability errors. To solve the problems mentioned above, an experimental system of mobile robot mapping based on SLAM technology is designed and implemented. The mobile robot is equipped with lidar and odometer sensor. Through the cartographer algorithm <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">[1]</sup> , lidar data and odometer data are integrated to realize indoor map construction and navigation. The open-source robot operating system (ROS) based on Linux was used for realizing information communication, data processing, real-time display between the upper machine and lower machine. The system simulation and real scene test are carried out. The mobile robot can build reliable and efficient map. Compared with the traditional technology of surveying and mapping, simulation and real experiment results show that the system has high practicability and reliability.