Designing an Autonomous Mobile Robot Featuring Self-Localization through 3D LiDAR Technology

摘要

This paper undertakes a deep investigation into the fabrication of a navigation system in which complex environments pose challenges for accuracy, reliability, and adaptability. With the help of the latest sensor fusion techniques, reliable adaptive algorithms, and machine learning models, our proposed system outperforms existing localization techniques, such as those presented in Autoware's 3D Simultaneous Localization and Mapping (SLAM) and Normal Distribution Transform (NDT) matching. The system empirically demonstrates effectiveness compared with existing methods through the collection of data during manual trolley relocation experiments and Robotic Operating System (ROS) simulations. This process demonstrates an enhancement of both indoor and outdoor navigation performance. Through the simultaneous utilization of multiple sensors, augmented with real-time dynamic self-adjustments and pattern recognition capabilities, the system exhibits outstanding adaptability to individual environmental conditions, resulting in consistent performance across different operating scenarios. This satisfies the requirement for accurate environmental information in autonomous navigation and addresses the challenges of localization accuracy and adaptability, making a comprehensive impact on the development of autonomous vehicles, robotic systems in manufacturing environments, and other domains. Additionally, the outcomes of this investigation broaden the perspective on the operation and application of autonomous technologies, enhancing the safety, efficiency, and reliability of operations in dynamically changing technological environments.