摘要
激光雷达是移动机器人同步定位与地图构建(SLAM)的重要模块。对目前主流的基于激光雷达的SLAM方法(Gmapping和Hector SLAM)进行研究,借助开源机器人操作系统(ROS),在自主研发的移动机器人平台上配备激光雷达,实现了不同参数配置下两种算法的地图构建。实验为参数最优配置指明了方向,且证明了Hector SLAM的整体构图精度高于Gmapping,但对参数配置要求较高。
Laser radar is an important module of mobile robot simultaneous localization and mapping（SLAM）.Two SLAM methods based on laser radar,Gmapping and Hector SLAM,at present is researched,on self-developed mobile robot platform,equip laser radar,realize mapping of two algorithms under different parameters by open source robot operaring system（ROS）. The experiment indicates correct direction for parameter optimal configuration and prove Hector SLAM has higher mapping precision than Gmapping but request for parameter configuration is much more higher.
作者
高文研
平雪良
贝旭颖
陈威
GAO Wen-yan;PING Xue-liang;BEI Xu-ying;CHEN Wei(Jiangsu Province Key Laboratory of Advanced Food Manufacturing Equipment and Technology, School of Mechanical Engineering, Jiangnan University, Wuxi 214122, China)
出处
《传感器与微系统》
CSCD
2018年第4期28-30,33,共4页
Transducer and Microsystem Technologies
基金
江苏省研究生科研创新项目计划项目(KYLX16_0771)
关键词
激光雷达
同步定位与地图构建
机器人操作系统
参数最优配置
laser radar
simultaneous localization and mapping （ SLAM ）
robot operating system （ ROS ）
parameters optimal configuration
