Indoor Mobile Robot Map Construction Based on Improved Cartographer Algorithm

摘要

Cartographer is a Simultaneous Localization and Mapping (SLAM) algorithm developed by Google, which supports a variety of sensors such as odometers, IMUs, LIDAR, GPS and so on, and it is one of the most widely used Laser SLAM algorithms at present. Aiming at the problem that wheeled odometers have accumulated errors in estimating the position of mobile robots, which leads to inaccurate map construction. The data from IMU and odometer are fused by Extended Kalman Filter (EKF) to improve the quality of map construction. Under the framework of Robot Operating System (ROS), the comparison experiments before and after fusion are conducted in a real scene to verify the effectiveness of the algorithm.