Research On Simultaneous Localization And Map Construction Algorithm Based On Lidar And UWB

With the development of mobile robot technology,automatic driving has become its core technology.The prerequisite for autonomous robots is simultaneous localization and mapping.Mobile robots need to use a variety of sensors to sense the surrounding environment,so as to obtain their own location and environmental information in the region,in order to establish a map,and on the basis of path planning,so as to achieve the purpose of automatic driving.Based on ultra-wideband(UWB)positioning and lidar,a simultaneous localization and mapping system is established.Compared with the existing SLAM system,although the hardware cost is increased,the positioning and mapping accuracy are improved,which is suitable for the establishment of indoor high-precision electronic map.The main research contents are as follows :(1)Aiming at the problem of simultaneous localization and mapping of nonlinear systems,the whole SLAM process is divided into two parts : localization and mapping.PF filtering algorithm and CKF filtering algorithm are used to estimate the target pose and landmark position respectively.(2)In the process of constructing the electronic map,the Taylor series expansion is used to compensate the error caused by the positioning,and the accuracy of the map construction is improved.(3)In this paper,the proposed algorithm is applied to the system based on lidar and ultra-wideband to establish a grid map and compare it with the real scene.