基于单线激光雷达的SLAM系统功能优化设计

Function Optimization Design of SLAM System Based on Single Line Lidar

地图与导航是无人驾驶与机器人领域的关键点,针对单线激光SLAM(同步定位与地图构建)系统功能优化问题,利用DOE(实验设计),提出了基于单线激光雷达的SLAM系统功能优化方法。首先,基于SLAM小车平台,利用Gmapping、Hector、Karto、Cartographer四种算法对室内环境进行建图,分析建图结果,提出最优建图方法。其次,依据AMCL定位算法,分别利用A*和Dijkstra两种路径规划方法,通过对比定位导航效果,提出基于参数匹配的定位导航功能优化方法。在此基础上,提出系统功能匹配优化方法,完成SLAM系统功能优化设计。

Map and navigation is a key point in the field of unmanned driving and robot. Aiming at the function optimization problem of single line laser SLAM(Simultaneous Localization and Mapping) system, using DOE(experimental design), a method of SLAM system function optimization based on single line lidar is proposed. First of all, based on the slam car platform, four algorithms of Gmapping,Hector, Karto and Cartographer are used to map the indoor environment. Analysis the mapping results, the optimal mapping method is proposed. Secondly, according to AMCL positioning algorithm, using A* and Dijkstra two path planning methods respectively, compare the positioning and navigation effects, a positioning and navigation function optimization method based on parameter matching is proposed.On this basis, the system function matching optimization algorithm is proposed to complete the functional optimization design of SLAM system.