Study On Lidar-based Map-building For Service Robots

A service robot is defined as a robot that performs useful tasks for humans or equipment excluding industrial automation applications and requires a degree of autonomy.With the aging of the global population intensified,the pace of social work and the pursuit of people to get rid of the constraints of the manual increasingly,the rapid development of service robots,with a vast application of the scene.Service robot has its own ability is the first step towards its practical application.Mapping,localization and navigation technology is in the bottom of the entire robot technology system,and is the key to build the the entire service robot.Lidarbased service robots mapping method that is an important method at this stage of service robot products in the process of achieving its own ability.This paper focuses on the basic characteristics and requirements of low cost of service robots,focusing on the following three pieces:Firstly,this paper studies the low-cost LIDAR which commonly used in the service robot,and explores the limitations of low-cost LIDAR,including low frequency and low sampling points,which affect the capability of service robot mapping,put forward its data correction algorithm for the measurement data under the moving state to achieve the ideal sensor input.Then,this paper analyzes the two main methods of laser-based SLAM,and by comparing its effect of mapping,combined with the characteristics of service robot computing resources is limited,given the framework of the implementation of real-time SLAM algorithm with limited computing resources.Finally,this paper summarizes the related research of autonomous exploration algorithm,and proposes an autonomous exploration algorithm of service robot based on the boundary theory and the next best view theory.The details of the algorithm flow and implementation are carried out in the case of low computing resources,to meet the needs of service robot autonomous environment exploration.In this paper,the theoretical study,the algorithm implementation and the experimental verification are closely combined.The basic framework of service robot architecture based on LIDAR is verified and the technical scheme is supported for the service requirements of the service robot under low cost requirements.