Simultaneous Localization And Mapping Technology Based On Lidar

With the development of science and technology,people's living standards have improved People want the machine to be more intelligent,so it can free people from those heavy work.Early robots could only follow a predefined program,and complete a single task.A truly autonomous robot should have a basic function that it can locate itself in the environment.This requires the robot to draw the map of the environment and locate it on the map.This function is the task of Simultaneous Localization and Mapping(SLAM).With this function,robot can perform other follow-up tasks.In this paper,the indoor SLAM technology based on lidar is analyzed.Based on the simple structural features of the indoor environment and the data characteristics of lidar,a new feature extraction method is proposed.This method is proposed to extract the line segment feature from the lidar data,then we can use this features to construct the incremental map.This paper analyzes and compares the main filtering algorithms.The effects of these algorithms on the state estimation are also studied by simulation experiments.Then,the simulation results of SLAM algorithm based on Extended Kalman Filter are presented.This experiment shows that the EKF-SLAM can effectively locate and map.Finally,the line segment feature extraction method proposed in this paper is integrated into the SLAM algorithm based on Particle Filter.The update of particle's weight and the resampling methods of the algorithm are also optimized.Finally,the simulation program is used to test the SLAM algorithm.Because the indoor environment is generally very small,we have designed a flexible mobile robot platform.It has three omnidirectional wheels that can turn in place.The Robot Operating System(ROS)is the software development platform.This paper analyzes the hardware framework of the robot system and the communication relationship between the modules.With the powerful function of ROS,the efficiency of software development has been greatly improved.With the TF software package of ROS,we can manage the coordinate system of the robot system efficiently.Finally,based on the robot SLAM platform,SLAM test is carried out in the corridor of the office area.The experimental results verify the efficiency of the whole SLAM system.