Research Of Indoor Lidar SLAM Algorithm And Its Application Based On Matching And Optimization

The lidar SLAM(Simultaneous Localization and Mapping)can offer the environment message and relative localization solution to the outdoor/indoor mobile robot application,which is the fundamental system for further developments of the robot system,such as navigation?smart control and so on.This paper mainly focuses on the application requirements of the lidar based SLAM system on the automated guided vehicle(AGV).The correlative researches include the design of micro-inertial system and its attitude calculation algorithm design?the preprocessing of lidar sensor data and the design of the whole lidar based SLAM system.At first,to meet with the task requirements of motion control and attitude calculation on the AGV platform,this paper proposes a hardware system design based on STM32 micro controller.Under such platform,a combination attitude calculation method based on EKF(extended Kalman filter)and vector cross product correction is proposed to offer quick-response and high-precision attitude data to SLAM algorithm.Then,this paper introduces detailly about the proposed lidar based SLAM system,including the preprocessing algorithm for the lidar data?the probabilistic model of the laser beam and the concept of the matching table and the algorithm designs of the front end and back end.Simultaneously,this paper also gives a new SLAM algorithm frame.At last,based on the applied methods mentioned above,there are many simulation and practice verifications designed to test their performance.In order to prove its integral practicability,this work simultaneously put forward a hybrid navigation algorithm.The experiment results prove that the proposed SLAM system has high reliability and realizability.The results obtained in this paper have certain theoretical value and applied reference value.