Integration of Various ROS Packages for Autonomous Navigation and Mapping of Mobile Robot

摘要

The integration of the Robot Operating System (ROS) into navigation and mapping strategies has significantly advanced autonomous systems. This study explores the implementation of autonomous navigation and mapping techniques using ROS, focusing on the integration of sensor data, such as LiDAR, for Simultaneous Localization and Mapping (SLAM). This enables robots to navigate unknown environments while constructing accurate maps in real-time. The work integrates various ROS packages and algorithms, first in virtual simulation and then in a physical robot. Through a series of experiments and simulations, the study demonstrates the effectiveness of ROS in achieving precise navigation and mapping outcomes, providing valuable insights for the advancement of autonomous robotic platforms.