Research on Navigation Algorithm of Mobile Robot Based on Laser SLAM

摘要

Localization technology is a critical issue in robot technology, encompassing navigation control and path planning. The traditional approach to localization involves the utilization of the Global Positioning System (GPS), which presents significant challenges in achieving precise positioning and navigation. Therefore, non-GPS-based localization and navigation methods have become a hot research topic in robotics. This paper proposes a point cloud information frame matching method based on laser radar data collection. It incorporates an improved algorithm for pose estimation of laser point cloud data and combines it with nonlinear optimization techniques for calibration and optimization, thereby achieving accurate localization of a mobile robot in unknown environments. A simulation experiment platform was constructed using the ROS robot operating system to design the program and verify the improved algorithm. The experimental results demonstrate that the improved frame-matching algorithm exhibits better robustness and localization accuracy in terms of mapping and positioning effects. At the same that can satisfy the engineering requirements and based on the raster map to complete the autonomous navigation of the mobile robot.