A SLAM Based Navigation System for the Indoor Embedded Control Mobile Robot

摘要

Aiming at the autonomous navigation ability of indoor mobile robot, a mobile robot based on embedded control system with SLAM based navigation is designed in this paper. The embedded control system includes indoor self-localization modules, differential driving mechanism, multimedia interaction and the embedded control bank. The proposed mapping algorithm based on sensor fusion odometry algorithm and Lidar SLAM is established. With the map built in SLAM, the whole navigation system including localization, path planing and motion planning modules is introduced then. The results of mapping and navigation experiments demonstrate the good performance of our proposed mobile robot, meanwhile, the mapping and navigation results also show high accuracy of our proposed algorithm.