Design and implementation of indoor robot positioning and mapping based on ROS

Jiankang Guo; Jun Tang; Xing Chen; Guanhong Lai

doi:10.1117/12.2661038

16 December 2022 Design and implementation of indoor robot positioning and mapping based on ROS

Jiankang Guo, Jun Tang, Xing Chen, Guanhong Lai

Proceedings Volume 12500, Fifth International Conference on Mechatronics and Computer Technology Engineering (MCTE 2022); 1250022 (2022) https://doi.org/10.1117/12.2661038
Event: 5th International Conference on Mechatronics and Computer Technology Engineering (MCTE 2022), 2022, Chongqing, China

Abstract

According to the mapping and positioning requirements of indoor robots, a mobile robot system based on ROS operating system and Lidar is designed and constructed. The robot system uses the PC built with the ROS system as the upper computer, and the STM32 single-chip microcomputer as the lower computer. It uses the Delta-2A Lidar, Odom, and IMU to obtain relevant information, and transmits it to the SLAM of the cartographer algorithm to construct a grid map. The results show that the built map has better accuracy, and the mobile robot system has better portability.

Citation Download Citation

Jiankang Guo, Jun Tang, Xing Chen, and Guanhong Lai "Design and implementation of indoor robot positioning and mapping based on ROS", Proc. SPIE 12500, Fifth International Conference on Mechatronics and Computer Technology Engineering (MCTE 2022), 1250022 (16 December 2022); https://doi.org/10.1117/12.2661038

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