基于激光雷达和SLAM的自主行驶小车设计

结合ROS平台、激光雷达和SLAM技术设计出拥有自主移动能力的行驶小车。首先搭建硬件开发平台,配置ROS下的一系列开源功能包,实现路径规划、自主行驶和避障功能。软件部分通过激光雷达的功能包获取周围的环境信息,进行SLAM地图创建,通过导航功能包进行全局路径规划和局部路径规划,小车行驶过程中结合AMCL功能包对移动过程中产生的误差进行修正,小车能够实现自主行驶。

Design of autonomous vehicle based on lidar and SLAM

Combined with ROS platform,lidar and SLAM technology,the autonomous moving vehicle is designed.First set up the hardware development platform,configure a series of open source function packages under ROS to implement path planning,autonomous driving,and obstacle avoidance functions.The SLAM map creation is performed by acquiring the surrounding environmental information through the function package of Lidar.Global path planning and local path planning are carried out through the navigation function package.The errors generated in the movement process are corrected in combination with the AMCL function package during the running of the robot car to realize autonomous movement.