Research on the SLAM of Mobile Robot Based on Particle Filter Method

摘要

This paper mainly studies mobile robots under ROS (Robot Operating System), combined with lidar and odometer information collection, to solve the indoor robot SLAM (Simul-taneous Localization and Mapping) and path planning technology problems. For this problem, this paper solves this problem based on ROS and mobile robot. In order to improve the computational efficiency and positioning accuracy of the robot in SLAM, SALM algorithm based on particle filter is adopted in this paper to complete the positioning and map creation functions of the robot in the unknown environment. At the same time, the path planning algorithm provided by ROS navigation function package is used to complete the navigation of the robot in the global map of the known environment, and the obstacle avoidance function of local map. The experimental results show that this technology can construct high-precision two-dimensional grid map and realize high-precision positioning and optimal path planning of the robot.