摘要
针对移动机器人实现同时定位与地图构建(SLAM)的高硬件成本问题,提出了在Cortex-A53处理器平台上实现激光雷达SLAM的方法。完成了Cortex-A53处理器平台上软件平台的构建,并结合激光雷达采集的数据实现了SLAM,对相关程序进行了优化使得处理器的性能满足程序的运算量。实践结果证明,在Cortex-A53处理器平台上可以构建较高精度的地图以及实现室内环境下的导航、避障,从而降低了移动机器人实现SLAM的硬件成本。
A way of fulfilling laser radar SLAM on Cortex-A53 processor based platform is introduced in this paper to solve the high hardware cost problem on SLAM. This paper builds software platform on the Cortex-A53 processor based platform, and fulfills SLAM based on the platform just build with data from laser radar, and the relating code is improved, so that the processor platform is able to satisfy the calculating amount of software. As is proved in this article, this Cortex-A53 processor based platform is able to build a refined map as well as perform indoor navigation and obstacle avoidance, and as a result the hardware cost of SLAM on mobile robot is lowered.
出处
《电子技术应用》
2018年第2期105-108,共4页
Application of Electronic Technique
