The LIDAR Odometry in the SLAM

摘要

This paper describes an algorithm that performs an contur analyzing of an environment with a single 2D Laser Imaging Detection and Ranging (LIDAR) sensor, as well as its implementation on a mobile platform using the Robot Operating System (ROS). The review of standard sensors shortcomings is provided in article. It is offered decisions on the creation of the space circuit which is based on the result received from a the scanning lazer range finder. Simulation of system is made in the Gazebo environment.