Research On Isomorphic Multi-Robot SLAM Based On Lidar

Mobile robot is one of the most widely used intelligent robots.Although its technology can be well integrated into many aspects of production and life,the complex environment and large space put forward higher requirements for mobile robot technology.In order to meet these requirements,we need to develop a multi-robot system.Multi-robot simultaneous localization and mapping technology is the focus of multi robot system research,because simultaneous localization and mapping is the premise for robots to complete subsequent tasks in unknown environment.Compared with the relatively mature single robot simultaneous localization and mapping technology,multi-robot simultaneous localization and mapping technology needs to be extended and improved in order to be applied to multi-robot system.Therefore,the simultaneous localization and mapping of isomorphic multi-robot based on lidar are studied and tested.For the research of this technology,this thesis first models the mobile robot and sensors.This thesis studies the main theories of simultaneous localization and mapping of single mobile robot based on lidar,analyzes and compares the methods of simultaneous localization and mapping based on filtering and the methods of simultaneous localization and mapping based on optimization.Secondly,the problems to be solved in multi-robot simultaneous localization and mapping are analyzed.In the problem of local map construction,the method of single robot simultaneous localization and mapping is used.The map merging and the communication between robots are mainly studied.The node communication based on ROS is used to realize the information transmission in the centralized multi-robot system.In order to realize the merging of maps,the method based on image registration is used.This method improves the traditional ORB feature point extraction method,and uses PSO algorithm to calculate the transformation matrix between maps.Finally,the real experimental environment is designed to verify the proposed method.The existing turtlebot2 mobile robot and Hokuyo lidar are used to experiment in two experimental scenes.The experimental data and maps are compared with the results obtained by other methods,and the reliability and accuracy of the method are verified by many experiments.