基于激光SLAM的移动机器人导航算法研究

定位技术是机器人技术中导航控制和路径规划的关键问题,传统定位方式采用全球定位系统(GPS),难以完成精准的定位导航功能,不依赖于GPS的定位导航方法是目前机器人领域的研究热点。提出一种基于激光雷达采集的点云信息帧间匹配方法,根据改进式激光点云数据的位姿估计算法,结合非线性优化进行了校正和优化,完成移动机器人对未知环境的精确定位。通过ROS机器人操作系统搭建实验平台,对改进算法进行验证,证明改进后帧间匹配算法的建图和定位效果对应的鲁棒性与定位精度效果更佳,可满足工程要求。

Research on Navigation Algorithm of Mobile Robot Based on Laser SLAM

Positioning technology is a key issue for navigation control and path planning in robotics. The traditional positioning method is based on the global positioning system (GPS), which is difficult to complete accurate positioning and navigation functions. Positioning and navigation method that do not rely on GPS is currently research hotpot in the field of robotics. A point cloud information frame matching method based on radar acquisition was proposed.According to the improved position and attitude estimation algorithm of laser point cloud data, it was corrected and optimized in combination with nonlinear optimization to complete the precise positioning of the mobile robot in the unknown environment. Through the ROS robot operating system, an experimental platform was established, the improved algorithm was verified.It is proved that the robustness and positioning accuracy of the improved inter frame matching algorithm corresponding to the mapping and positioning effect are better, which can meet the engineering requirements.