[1]马志艳１,２,邵长松１.移动机器人２D激光SLAM 算法仿真与实现[J].湖北工业大学学报,2024,39(2):5-09.
　MA Zhiyan,SHAO Changsong.Simulation and Implementation of 2D Laser Slam Algorithm for Mobile Robots[J].,2024,39(2):5-09.
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移动机器人２D激光SLAM 算法仿真与实现()
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《湖北工业大学学报》[ISSN:1003-4684/CN:42-1752/Z]

卷:
39
期数:
2024年第2期
页码:
5-09
栏目:
出版日期:
2024-04-20

文章信息/Info

Title:
Simulation and Implementation of 2D Laser Slam Algorithm for Mobile Robots
文章编号:
1003-4684(2024)02 0005 05
作者:
马志艳１; ２; 邵长松１
１ 湖北工业大学农机工程研究设计院,湖北 武汉 ４３００６８;２ 湖北省农机装备智能化工程技术研究中心,湖北 武汉 ４３００６８
Author(s):
MA Zhiyan 1; 2 ;  SHAO Changsong1
1 Agricultural Machinery Engineering Research and Design Institute of Hubei Univ. of Tech., Wuhan 430068,China; 2 Hubei Province Agricultural Machinery Equipment Intelligent Engineering Technology Research Center, Wuhan 430068, China
关键词:
移动机器人; ２D激光同步定位与建图; Gmapping算法; Cartographer算法; 仿真
Keywords:
mobile robot; 2D laser SLAM;  Gmapping algorithm;  Cartographer algorithm;  simulation
分类号:
TP242
文献标志码:
A
摘要:
随着无人驾驶技术的迅速发展,同步定位与建图技术因其精度高、稳定性好的优点备受人们关注.基于激光雷达传感器,选择主流的 Gmapping和 Cartographer算法,搭建实验环境,对两种算法进行对比仿真与实验建图,并对两种算法的建图效果进行深度的分析.基于滤波器的 Gmapping算法计算量小,依赖于里程计信息 ,适用于小尺度、低特征环境中;基于图优化的 Cartographer算法累计误差低,精度高,适用于精度和稳定性要求较高的场合.
Abstract:
With the rapid development of unmanned driving technology, the SLAM method has attracted much attention due to its high accuracy and good stability. Based on the lidar sensor, the mainstream Gmapping and Cartographer algorithms are selected; the experimental environment is built; the two algorithms are compared, simulated and experimentally constructed. Finally, the indepth analysis and discussion of the mapping effects of the two algorithms are carried out. The filterbased Gmapping algorithm has a small amount of calculation and relies on odometer information, and is suitable for smallscale and low feature environments; the graphbased Cartographer algorithm has low cumulative error and high accuracy, and is suitable for applications with high accuracy and stability requirements.

参考文献/References:

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备注/Memo

备注/Memo:
[收稿日期]２０２２- ０７- １５[基金项目]国家重点研发计划基金资助项目(２０１８YFD０７０１００２－０３)[第一作者]马志艳(１９７６－),男,湖北武汉人,工学博士,湖北工业大学副教授,研究方向为计算机视觉与SLAM 技术.[通信作者]邵长松(１９９６－),男,山东临沂人,湖北工业大学硕士研究生,研究方向为移动机器人的SLAM 与导航.
更新日期/Last Update: 2024-05-07