A fast mapping for small mobile robot scanned by single line Lidar

摘要

Simultaneous Localization and Mapping (SLAM) is a technology developed to overcome the problems of robot localization and navigation. This paper uses a simple and low-cost way to establish indoor environment information map data for work planning and patrol monitoring of self-propelled robots. The advanced mobile robot uses mainly Lidar and camera to sense the environment. Being of its high accuracy and large sensing range, the robot gets a large amount of environment sensing data, use it on SLAM to obtain a detailed environment map, and locate the robot location. However, in order for the robot to use Lidar and camera to detect environmental data, it must use higher-level controller and memory to deal with a large number of sensing data, resulting in an increase in the price of sensors and the cost of matching hardware. In this paper, a low-cost single line Lidar, combined with DC motor and rotary encoder, is installed on a small robot, so that it obtains the data of different measurement points, and the robot is used as the test vehicle to explore the indoor environment. The experimental result shows that its sensing characteristics are sensitive, and the sensing data meet the requirements of real-time mapping.