Research on SLAM Path Planning of ROS Robot based on Lidar

Authors

  • Haolin Hu
  • Linjie Sun
  • Huizhi Xu

DOI:

https://doi.org/10.54097/hset.v24i.3910

Keywords:

Lidar; ROS Robot; SLAM; Path Planning.

Abstract

In order to improve the autonomous navigation performance of robot, an automatic mapping and path planning method based on ROS robot is proposed, which uses two-dimensional laser radar to collect the surrounding environment. Gmapping algorithm is used for automatic optimization and mapping, Class A algorithm is used for global path planning, and DWA method is used to realize the local obstacle avoidance function of the robot. Experiments show that this method can realize the automatic generation and automatic navigation of the robot.

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References

Huang Yakun. Research on indoor SLAM and path planning of robots based on lidar [D]. Lanzhou Jiaotong University, 2020.

Wu Xin. Research on Laser Radar Map Construction and Path Planning of Mobile Robot under ROS [D]. Shaanxi: Xi'an University of Technology, 2021.

Wang Zhu. Research on obstacle detection and SLAM path planning based on lidar [D]. Beijing: Beijing Jiaotong University, 2021.

Su Zhifeng. Path Planning and Tracking Control of Mobile Robot Based on Lidar [D]. Jiangxi: Nanchang Aviation University, 2020.

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Published

27-12-2022

Issue

Vol. 24 (2022): 2nd International Symposium on Communication Engineering & Computer Science (CECS 2022)

Section

Articles

License

Creative Commons License

This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.

How to Cite

Hu, H., Sun, L., & Xu, H. (2022). Research on SLAM Path Planning of ROS Robot based on Lidar. Highlights in Science, Engineering and Technology, 24, 179-181. https://doi.org/10.54097/hset.v24i.3910