Research On Simultaneous Mapping And Positioning Of Mobile Robot

With the development of science and technology,the emergence of robots has changed the traditional mode of production and life of human beings,providing great convenience for human society,people's lives and work.As a typical type of robot,mobile robots have evolved with the development of science and technology,and gradually evolved from a simple manual control mode to a smart mobile robot.In order to make mobile robots more intelligent,the concept of simultaneous positioning and construction(SLAM)of mobile robots has been proposed,and has always been considered as a core issue in the field of mobile robots.After the mobile robot implements the positioning and mapping functions,it can use the constructed environment map to perform specific tasks such as indoor cleaning,site rescue,and material transportation.In addition,based on the research of mobile robot SLAM,it can be extended to more fields,such as the research of unmanned vehicles and the construction of three-dimensional space.This article is based on the research of indoor mobile robot SLAM.First,this paper analyzes and studies the development of SLAM.At the same time,the research theories and research results of laser SLAM and visual SLAM at home and abroad are summarized.Second,the system model of the mobile robot was built.And the basic theory related to the SLAM link was studied.Among them,the SLAM algorithm based on particle filtering is mainly studied,and simulation analysis is performed by MATLAB.Then,based on the Kobuki pedestal,some frameworks are built in the ROS platform,including mobile robot SLAM Frame,a mobile robot navigates using a known environment,and a mobile robot navigates in an unknown environment.And refer to the results of other people designed the corresponding program,and then test the experiment.Finally,an experimental scheme was designed to test the effects of different sensor observations on the SLAM of a mobile robot and the results were analyzed.Then based on the experimental results,an improved method based on laser SLAM for mobile robot was proposed and tested.