Slam and navigation of indoor robot based on ROS and lidar

For indoor service robot, this paper designs an indoor robot based on ROS (robot operating system) operating system. The robot uses two-dimensional lidar as the core sensor to collect the depth information of the environment and uses SLAM algorithm based on particle filter to realize the robot mappi...

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Bibliographic Details
Published inJournal of physics. Conference series Vol. 1748; no. 2; pp. 22038 - 22042
Main Author Yang, Xiaozhuo
Format Journal Article
LanguageEnglish
Published Bristol IOP Publishing 01.01.2021
Subjects
Algorithms
Lidar
Navigation
Obstacle avoidance
Path planning
Physics
Robots
Service robots
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ISSN1742-6588
1742-6596
1742-6596
DOI10.1088/1742-6596/1748/2/022038

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Summary:For indoor service robot, this paper designs an indoor robot based on ROS (robot operating system) operating system. The robot uses two-dimensional lidar as the core sensor to collect the depth information of the environment and uses SLAM algorithm based on particle filter to realize the robot mapping; Based on the framework of ROS, A* algorithm and DWA algorithm are used to realize the navigation function of the robot; The map and navigation are simulated in the gazebo simulation environment to verify the function of path planning, local obstacle avoidance and navigation.
Bibliography:ObjectType-Conference Proceeding-1
SourceType-Scholarly Journals-1
content type line 14
ISSN:1742-6588
1742-6596
1742-6596
DOI:10.1088/1742-6596/1748/2/022038