摘要
SLAM(同步定位与建图)技术是无人车能够精确定位、路径规划、自主导航的关键。利用2D激光SLAM建图,基于ROS(机器人操作系统)的无人小车可实现在较小室内区域构建较为理想的环境地图。本文验证了Cartographer室内建图的可用性和优异性,受益于回环检测能力,建图时可随意移动无人车,建图效果较好。
SLAM is the key to accurate localization,path planning and navigation of unmanned vehicle.With 2D laser SLAM,low-speed unmanned vehicle based on ROS can build ideal map for small indoor area.This paper verifies the usability and excellence of the indoor Cartographer mapping,and benefiting from the loopback detection capability,the unmanned vehicle could move at will during mapping and achieve good effect.
作者
王晋
Wang Jin(Electrical Engineering Department of Shanxi Engineering Vocational College,Taiyuan Shanxi 030009,China)
出处
《山西电子技术》
2023年第1期95-98,共4页
Shanxi Electronic Technology
基金
山西省2022年教育科学“十四五”规划项目的阶段性成果(GH-220451)。
