Research on SLAM based on RBPF algorithm in indoor environment

摘要

Abstract In order to realize the simultaneous localization and mapping (SLAM) of robots in indoor environments, a SLAM method for four-wheel mobile robots based on RBPF algorithm and lidar is proposed. The mobile robot realizes its own positioning during the movement. The lidar scans the location of indoor obstacles, updates the map in real time, and gradually realizes the construction of a local map to a global map through data association. Aiming at the particle barrenness that may occur when the RBPF algorithm realizes SLAM during resampling, an adaptive resampling method is adopted to ensure that there are enough particles to realize SLAM every time. The experimental results show that when the linear velocity and angular velocity of the four-wheel mobile robot are small, indoor SLAM can be better realized.