Design Of SLAM And Navigation Robot Based On Cartographer Algorithm

Driven by the development of artificial intelligence technology,intelligent robot technology has been rapidly developed and widely used,and has become an important part of national innovation strategy.As an important research direction of intelligent robot,Simultaneous Localization and Mapping(SLAM)is also the key technology to realize intelligent autonomous mobile robot.Aiming at some problems existing in the development and industrialization of intelligent autonomous mobile robot,this paper designs and develops the SLAM and navigation robot platform independently,and realizes the functions of map construction,positioning and autonomous navigation of robot in unknown environment.The main contents of the study are as follows:Firstly,the SLAM theory algorithm and path planning algorithm are analyzed and compared,and the SLAM navigation robot system is modeled theoretically.Especially the kinematics model,lidar observation model and environment expression model of robot are deduced and proved in detail.Secondly,the composition and positioning principle of Cartographer SLAM algorithm are analyzed,and the improvement of Cartographer algorithm by adding Lazy Decision algorithm is put forward,aiming at the problem that Cartographer algorithm is prone to loop error,which leads to the decline of composition precision and so on.Thus,the quality of loop detection is improved,the computational pressure is reduced,and the drawing accuracy and robustness of the whole algorithm are improved.The robot autonomous navigation and path planning algorithms are analyzed and compared,and the detailed theoretical derivation process of A*global path planning algorithm and DWA local path planning algorithm is given.The path planning algorithm is simulated and verified by MATLAB platform.Then,the design and construction process of the whole autonomous development robot are described in detail from the aspects of hardware and software.This design puts forward a new hardware design architecture,for which the data conversion and IMU module is developed and applied to the autonomous mobile robot.On the one hand,this architecture can reduce the workload of the non-algorithm part of the main control unit,improve the real-time performance of map construction and autonomous navigation.On the other hand,it solves the problem of communication data clogging.It can also enhance the compatibility of the system and facilitate the algorithm transplantation to other experimental platforms.Finally,in order to verify the effectiveness of the above algorithm,the autonomous robot is used as the test platform to test the map construction,positioning and autonomous navigation functions of the robot.Comparing the Cartographer SLAM algorithm with the Hector SLAM algorithm and the optimized Cartographer SLAM algorithm about the graph effect,the calculation complexity and the algorithm robustness of the Two Algorithms respectively.After that,the navigation system of the robot was tested and the time-avoidance were tested,and all the test results were analyzed after the complete test was completed.