基于ROS的服务机器人的两种建图方法比较研究与实践

Comparative Research and Practice of Two Mapping Methods for Service Robot Based on ROS

文章基于ROS平台,采用激光雷达和里程计对室内环境信息进行采集,在服务机器人上实现了Gmapping和Hector SLAM两种算法的地图创建。通过实验对比,Gmapping算法构建的地图跟真实环境更为接近,在一般低特征环境下建图效果优于Hector SLAM算法。

Based on the robot operating system,this paper uses lidar and odometer to collect indoor environmental information,and implements map creation of Gmapping and Hector SLAM algorithms on the service robot.Through experimental comparison,the map constructed by Gmapping algorithm is closer to the real environment,and the map is better than Hector SLAM algorithm’s in general low feature environment.