Lidar SLAM for Mobile Robot in an Indoor Environment

摘要

Abstract: Two-dimensional (2D) simultaneous localization and mapping (SLAM) is a crucial technology for autonomous indoor robots. The robot can navigate and execute designated tasks using a map generated by SLAM. An indoor SLAM system utilizing LIDAR data that effectively tracks moving obstacles with notable accuracy and reliability. This paper presents a LIDAR-based SLAM methodology tailored for dynamic environments, specifically within indoor settings where changes occur due to mobile objects. The integration of LIDAR data with sophisticated algorithms facilitates high-precision localization and ensures the map remains current, even in intricate and confined spaces. The differentiation between static and dynamic feature extraction, along with adaptive filtering techniques, enhances localization accuracy and overall performance. Our experimental results are promising, showcasing consistent and safe navigation in dynamic indoor environments